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ROBOTIS-GIT / ROBOTIS-OP3

ROS packages for the ROBOTIS OP3
http://emanual.robotis.com/docs/en/platform/op3/introduction/
Apache License 2.0
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Fail to get foot step from planner #54

Closed ddliu365 closed 5 years ago

ddliu365 commented 5 years ago

I am doing a simulation with op3. While I am using the foot planner, I met several problems.

First it is the tf fixed frame in rviz. I fixed it by remapping body_link to world frame. Please fix that problem in the next update. Second, the problem is caused by the foot step service. In the ui part, I think you didn't start the foot plan service. The log said the service is not called. I start the service manually. Please fix this problem in the next update.

The third problem I am still working on and waiting for your help is that Start pose is not accessible.

kaym9n commented 5 years ago

Hi

ddliu365 commented 5 years ago

Dear Kayman,

Yes, I followed this tutorial.

After running the op3_localization manually, it solved the first problem. However, the second problem still exists. "cannot call services" shows up after I click the plan button.

[image: image.png]

[image: image.png]

Can you help me fix this problem?

Best regards, Jack

On Tue, Dec 4, 2018 at 9:48 PM Kayman notifications@github.com wrote:

Hi

-

Fisrt, Second one I think you did now follow the tutorial of online walking https://urldefense.proofpoint.com/v2/url?u=http-3A__emanual.robotis.com_docs_en_platform_op3_tutorials_-23how-2Dto-2Dcontrol-2Dupgraded-2Dwalking-2Dusing-2Dfootstep-2Dplanner&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=bQs4R1mkEWfpVg9k-3LAlSkIsKPg3-xMNu2i27PNdho&s=D4xEXm6m4EThvdd3jcMsTRP-C_0Y-9kMo2Ny1Yryprk&e= . Please see the tutorial https://urldefense.proofpoint.com/v2/url?u=http-3A__emanual.robotis.com_docs_en_platform_op3_tutorials_-23how-2Dto-2Dcontrol-2Dupgraded-2Dwalking-2Dusing-2Dfootstep-2Dplanner&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=bQs4R1mkEWfpVg9k-3LAlSkIsKPg3-xMNu2i27PNdho&s=D4xEXm6m4EThvdd3jcMsTRP-C_0Y-9kMo2Ny1Yryprk&e= and follow it. When I checked it, I found the missing part in Run the program section. Please run the op3_localization manually.

$ rosrun op3_localization op3_localization

-

Third one I don't understand start pose. Could you give me more information about that?

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kaym9n commented 5 years ago

cannot call services means that footstep_planner does not be launched. It's one of humanoid_navigation packages. How about deleting the humanoid_navigation package and clone it from following link, compile it(catkin_make).

$ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git

ps. I can't see the pictures. :)

Best regards, Kayman

ddliu365 commented 5 years ago

I downloaded it and recompiled it. It does not work.

problem 1: cannot call service. still exists

so I just run $ roslaunch footstep_planner footstep_planner.launch

manually run this run(don't know if it is correct, because there are many launch files in the footstep_planner package).

After running this command, problem1 has disappeared.

problem2 shows up.

in the command window which runs footstep_planner, the error message is that "Distance map hasn't been initialized yet."

I have no idea about this problem and not sure if the first method is correct. Can you help me please ?

regards, Jack

On Wed, Dec 5, 2018 at 1:23 AM Kayman notifications@github.com wrote:

cannot call services means that footstep_planner does not be launched. It's one of humanoid_navigation packages. How about deleting the humanoid_navigation package and clone it from following link https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_humanoid-5Fnavigation&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=HuSbNWKyhuwyynaJ92YB6otpkY4zUDv_h25DD4SujxE&e=, compile it(catkin_make).

$ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git

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ddliu365 commented 5 years ago

Dear Kayman,

Then I tried different way.

"Distance map hasn't been initialized yet."

may be caused by the map service which has been launched in the footstep_planner.launch.

Then, I launched the complete version of this footstep_planner

$ roslaunch footstep_planner footstep_planner_complete.launch

This launch will open a rviz gui again which I closed it manually.

Then, I click the plan button in dynamixel gui.

Probem3 shows up.

In the command window which runs the footstep_planner_complete.launch, it shows up:

ERROR] [1544013860.495347652, 909.499000000]: Start pose (0.000000 0.000000 0.000000) not accessible.

The error message in the gui is that "fail to get foot step from planner"

See the log for the details:

jack@jack:~/catkin_ws$ roslaunch footstep_planner footstep_planner.launch ... logging to /home/jack/.ros/log/a55a2902-f888-11e8-b81d-b06ebf5bcf8f/roslaunch-jack-16319.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jack:45617/

SUMMARY

PARAMETERS

  • /footstep_planner/accuracy/cell_size: 0.01
  • /footstep_planner/accuracy/collision_check: 2
  • /footstep_planner/accuracy/num_angle_bins: 64
  • /footstep_planner/allocated_time: 7.0
  • /footstep_planner/changed_cells_limit: 20000
  • /footstep_planner/diff_angle_cost: 0.0
  • /footstep_planner/foot/max/inverse/step/theta: -0.4
  • /footstep_planner/foot/max/inverse/step/x: -0.1
  • /footstep_planner/foot/max/inverse/step/y: 0.12
  • /footstep_planner/foot/max/step/theta: 0.7
  • /footstep_planner/foot/max/step/x: 0.22
  • /footstep_planner/foot/max/step/y: 0.28
  • /footstep_planner/foot/origin_shift/x: 0.02
  • /footstep_planner/foot/origin_shift/y: 0.0
  • /footstep_planner/foot/separation: 0.14
  • /footstep_planner/foot/size/x: 0.16
  • /footstep_planner/foot/size/y: 0.1
  • /footstep_planner/foot/size/z: 0.015
  • /footstep_planner/footsteps/theta: [0.0, 0.0, 0.0, 0...
  • /footstep_planner/footsteps/x: [0.0, 0.22, 0.0, ...
  • /footstep_planner/footsteps/y: [0.14, 0.14, 0.26...
  • /footstep_planner/forward_search: False
  • /footstep_planner/heuristic_type: PathCostHeuristic
  • /footstep_planner/initial_epsilon: 8.0
  • /footstep_planner/max_hash_size: 65536
  • /footstep_planner/planner_type: ARAPlanner
  • /footstep_planner/search_until_first_solution: False
  • /footstep_planner/step_cost: 0.1
  • /footstep_planner/step_range/x: [0.22, 0.22, -0.1...
  • /footstep_planner/step_range/y: [0.28, 0.12, 0.12...
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES / footstep_planner (footstep_planner/footstep_planner_node)

ROS_MASTER_URI=http://localhost:11311

process[footstep_planner-1]: started with pid [16336] [ERROR] [1544013091.511449753, 334.345000000]: Distance map hasn't been initialized yet. [ERROR] [1544013753.358865051, 826.710000000]: Distance map hasn't been initialized yet. [ERROR] [1544013785.168840075, 850.940000000]: Distance map hasn't been initialized yet. ^[c^C[footstep_planner-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done jack@jack:~/catkin_ws$ roslaunch footstep_planner footstepplanner footstep_planner_complete.launch footstep_planner_rstar_complete.launch footstep_planner_nao.launch jack@jack:~/catkin_ws$ roslaunch footstep_planner footstep_planner_complete.launch ... logging to /home/jack/.ros/log/a55a2902-f888-11e8-b81d-b06ebf5bcf8f/roslaunch-jack-16891.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jack:36243/

SUMMARY

PARAMETERS

  • /footstep_planner/accuracy/cell_size: 0.01
  • /footstep_planner/accuracy/collision_check: 2
  • /footstep_planner/accuracy/num_angle_bins: 64
  • /footstep_planner/allocated_time: 7.0
  • /footstep_planner/changed_cells_limit: 20000
  • /footstep_planner/diff_angle_cost: 0.0
  • /footstep_planner/foot/max/inverse/step/theta: -0.4
  • /footstep_planner/foot/max/inverse/step/x: -0.1
  • /footstep_planner/foot/max/inverse/step/y: 0.12
  • /footstep_planner/foot/max/step/theta: 0.7
  • /footstep_planner/foot/max/step/x: 0.22
  • /footstep_planner/foot/max/step/y: 0.28
  • /footstep_planner/foot/origin_shift/x: 0.02
  • /footstep_planner/foot/origin_shift/y: 0.0
  • /footstep_planner/foot/separation: 0.14
  • /footstep_planner/foot/size/x: 0.16
  • /footstep_planner/foot/size/y: 0.1
  • /footstep_planner/foot/size/z: 0.015
  • /footstep_planner/footsteps/theta: [0.0, 0.0, 0.0, 0...
  • /footstep_planner/footsteps/x: [0.0, 0.22, 0.0, ...
  • /footstep_planner/footsteps/y: [0.14, 0.14, 0.26...
  • /footstep_planner/forward_search: False
  • /footstep_planner/heuristic_type: PathCostHeuristic
  • /footstep_planner/initial_epsilon: 8.0
  • /footstep_planner/max_hash_size: 65536
  • /footstep_planner/planner_type: ARAPlanner
  • /footstep_planner/search_until_first_solution: False
  • /footstep_planner/step_cost: 0.1
  • /footstep_planner/step_range/x: [0.22, 0.22, -0.1...
  • /footstep_planner/step_range/y: [0.28, 0.12, 0.12...
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES / footstep_planner (footstep_planner/footstep_planner_node) map_server (map_server/map_server) rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[map_server-1]: started with pid [16908] process[rviz-2]: started with pid [16909] process[footstep_planner-3]: started with pid [16917] [rviz-2] process has finished cleanly log file: /home/jack/.ros/log/a55a2902-f888-11e8-b81d-b06ebf5bcf8f/rviz-2*.log [ERROR] [1544013860.495347652, 909.499000000]: Start pose (0.000000 0.000000 0.000000) not accessible.

Can you help me figure this error out?

Best regards, Jack

On Wed, Dec 5, 2018 at 1:23 AM Kayman notifications@github.com wrote:

cannot call services means that footstep_planner does not be launched. It's one of humanoid_navigation packages. How about deleting the humanoid_navigation package and clone it from following link https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_humanoid-5Fnavigation&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=HuSbNWKyhuwyynaJ92YB6otpkY4zUDv_h25DD4SujxE&e=, compile it(catkin_make).

$ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444373195&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=Up5tUqdeykKSvAXlENSUWeDly-3Ww8RHCjOT724-GwQ&e=, or mute the thread https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3QvN3Qw12-5FkDUKoy1TD6aA6Z4gXNks5u12ZOgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=8qtLbIGborFmtJjwYp9ewiySkaEc5BZWA15mc7e6syY&e= .

kaym9n commented 5 years ago

Is it right that you ran $ roslaunch op3_gui_demo op3_demo_walking.launch?

If you run the op3_gui_demo/launch/op3_demo_walking.launch, op3_navigation/launch/op3_footstep_planner.launch is run and footstep_planner is run also.

In your case, you ran footstep_planner manually except proper parameters. I think it's why footstep_planner did not work.

Please refer to launch file of op3_navigation package.

ddliu365 commented 5 years ago

Thank you very much. I applied the above method and it works.

I am working on the project with foot planning in uneven ground and 6D navigation. Is there a package in op3? If yes, how to change the file with less time?

I try to use a vigil foot step planning in ros and it seems very hard to change. I don't know where should I change if I still want to use the Dynamixel guy like 2d foot planning for the online walking.

Can you give me some guidance and tutorial about changing file in op3 package?

Best regards, Jack

On Thu, Dec 6, 2018 at 12:12 AM Kayman notifications@github.com wrote:

Is it right that you ran $ roslaunch op3_gui_demo op3_demo_walking.launch?

If you run the op3_gui_demo/launch/op3_demo_walking.launch, op3_navigation/launch/op3_footstep_planner.launch is run and footstep_planner is run also.

In your case, you ran footstep_planner manually except proper parameters. I think it's why footstep_planner did not work.

Please refer to launch file of op3_navigation package https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3-2DTools_tree_master_op3-5Fnavigation_launch&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=WMC6Bfs2f6DW_4zBPM-k1MIno6EmG-Qqqlt4TztPqKc&e= .

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444750762&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=sw0m7RsYw-6Uncv03IBACVUtvAHylKaSb2leDMNHcrA&e=, or mute the thread https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3czGQ6Q6LBu-5FZ1rpUUK2MQuQz6Xgks5u2KdYgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=iuH7xvSIDKueJxTr2ltYM_zTwKBSwydr0NptNmV_3_Y&e= .

ddliu365 commented 5 years ago

Thank you very much. I applied the above method and it works.

I am working on the project with foot planning in uneven ground and 6D navigation. Is there a package in op3? If yes, how to change the file with less time?

I try to use a vigir foot step planning in ros and it seems very hard to change. I don't know where should I change if I still want to use the Dynamixel GUI like 2d foot planning for the online walking.

Can you give me some guidance and tutorial about changing file in op3 package?

Best regards, Jack

On Thu, Dec 6, 2018 at 12:12 AM Kayman notifications@github.com wrote:

Is it right that you ran $ roslaunch op3_gui_demo op3_demo_walking.launch?

If you run the op3_gui_demo/launch/op3_demo_walking.launch, op3_navigation/launch/op3_footstep_planner.launch is run and footstep_planner is run also.

In your case, you ran footstep_planner manually except proper parameters. I think it's why footstep_planner did not work.

Please refer to launch file of op3_navigation package https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3-2DTools_tree_master_op3-5Fnavigation_launch&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=WMC6Bfs2f6DW_4zBPM-k1MIno6EmG-Qqqlt4TztPqKc&e= .

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kaym9n commented 5 years ago

We don't have a footstep planner for 6D in ROBOTIS-OP3. And I have never used a vigir footstep planner. I do not know if I can help you.

To use a GUI like OP3, you need to create it manually. It's created using an interactive marker. Please refer to the source code of the marker part and the wiki.

ddliu365 commented 5 years ago

Thanks, Kayman.

You help me a lot.

On Sun, Dec 9, 2018 at 8:09 PM Kayman notifications@github.com wrote:

We don't have a footstep planner for 6D in ROBOTIS-OP3. And I have never used a vigir footstep planner. I do not know if I can help you.

To use a GUI like OP3, you need to create it manually. It's created using an interactive marker. Please refer to the source code of the marker part https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3-2DTools_blob_master_op3-5Fgui-5Fdemo_src_qnode-5Fpreview-5Fwalking.cpp&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=kVIcb_arkwTq_WO7bL67Timb-wh52GttKkulck5M3ks&s=EsfoY8qpPwZaUY5HscCoL93q2e1y4cj3fLfoyrkaaSU&e= and the wiki https://urldefense.proofpoint.com/v2/url?u=http-3A__wiki.ros.org_interactive-5Fmarkers&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=kVIcb_arkwTq_WO7bL67Timb-wh52GttKkulck5M3ks&s=BZdj_T2KG8flApgH8GPsGJmrEtQNN2fmiEUDgS9Po-s&e= .

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kaym9n commented 5 years ago

I wish you luck.

Best regards, Kayman