Unable to set value [-nan -nan -nan 0 -0 0] for key[pose] withe the development branch

[tristancrossman]

With the latest commit made on the development and the gripper_simulation branch I get the following errors when trying to launch baxter_world.launch :

Warning [parser_urdf.cc:1010] multiple inconsistent exists due to fixed joint reduction overwriting previous value [true] with [false]. Error [Param.cc:181] Unable to set value [-nan -nan -nan 0 -0 0] for key[pose]

[ERROR] [1447950065.006162846, 0.869000000]: Exception thrown while initializing controller right_gripper_controller. Could not find resource 'r_gripper_l_finger_joint' in 'hardware_interface::EffortJointInterface'. [ERROR] [1447950065.006320683, 0.869000000]: Initializing controller 'right_gripper_controller' failed

[ERROR] [WallTime: 1447950066.017161] [1.749000] Failed to load right_gripper_controller

[ERROR] [1447950066.175180149, 1.865000000]: Ignoring transform for child_frame_id "l_gripper_l_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000) [ERROR] [1447950066.175222731, 1.865000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)

Any ideas of solutions would be welcomed

[rethink-imcmahon]

Use the release-1.2 branches. I fixed it there and will merge the commits back to development once the testing has been completed.

[tristancrossman]

I downloaded the release-1.2 branch and the problem is the same

[rethink-imcmahon]

The problem is actually that the baxter_description/urdf/right_endeffector.xacro is set to be a null gripper. To fix, please checkout the release-1.2 branches on all of your baxter* repositories

[tristancrossman]

All right, thanks

[edessa]

I've come across this same issue, even after updating the release-1.2 branches by doing:

$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/release 1.2.0/baxter_sdk.rosinstall --merge-replace
$ wstool update
$ catkin_make
$ catkin_make install

However, I still have the exact same problem where my simulator is broken and the following is spammed in the launch terminal:

[ERROR] [1448073522.605900304, 7.550000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)
[ERROR] [1448073522.605897276, 7.550000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)

What can I do to fix this?

[rethink-imcmahon]

Hmm. You might try removing your ~/ros_ws/build, ~/ros_ws/devel and ~/ros_ws/install directories and rerunning your catkin commands.

On Friday, November 20, 2015, edessa notifications@github.com wrote:

I've come across this same issue, even after updating the release-1.2 branches by doing:

$ wstool merge https://raw.githubusercontent.com/RethinkRobotics/baxter/release 1.2.0/baxter_sdk.rosinstall --merge-replace $ wstool update $ catkin_make $ catkin_make install

However, I still have the exact same problem where my simulator is broken and the following is spammed in the launch terminal:

[ERROR] [1448073522.605900304, 7.550000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000) [ERROR] [1448073522.605897276, 7.550000000]: Ignoring transform for child_frame_id "l_gripper_r_finger" from authority "unknown_publisher" because of a nan value in the transform (-nan -nan -nan) (0.000000 0.000000 0.000000 1.000000)

What can I do to fix this?

— Reply to this email directly or view it on GitHub https://github.com/RethinkRobotics/baxter_simulator/issues/66#issuecomment-158578510 .

. *.* . Ian McMahon | Senior Developer Relations Engineer Rethink Robotics, Inc main: 617.500.2487 | direct: 617.500.4188

[edessa]

Sorry, I still have the same problem after doing what you suggested. However, below is what is causing the problem in my right_end_effector.xacro:

<?xml version="1.0" ?>
<robot name="right_end_effector" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:include filename="$(find rethink_ee_description)/urdf/null_gripper/null_gripper.xacro" />
  <xacro:null_gripper side="right"/>
</robot>

Is this the only file that has to be changed? If not, how do I get the most up to date gripper files if the update I posted earlier didn't work? Thank you for your help.

[edessa]

Ah, I made a mistake! I forgot to specifically update the baxter_simulator repository to version 1.2.0, and now it works. Thank you for your patience!

[rethink-imcmahon]

Right, so that is definitely your problem. In effect the launch file is asking for grippers but the xacro is asking for no right gripper. I am realizing that this will likely happen to many people as they reconfigure their end effectors. It's probably bad UX for things to break when you only change one and not both. I'll think on how to make this better.

To fix this for you specifically, just make sure your baxter_common repo is on release-1.2 branch, and relaunch. The right_end_effector.xacro will be populated with an electric gripper, which will make the electric gripper controllers happy.

On Saturday, November 21, 2015, edessa notifications@github.com wrote:

Sorry, I still have the same problem. However, below is what is causing the problem in my right_end_effector.xacro:

<?xml version="1.0" ?>

Is this the only file that has to be changed? If not, how do I get the most up to date gripper files if the update I posted earlier didn't work? Thank you for your help.

— Reply to this email directly or view it on GitHub https://github.com/RethinkRobotics/baxter_simulator/issues/66#issuecomment-158663028 .

. *.* . Ian McMahon | Senior Developer Relations Engineer Rethink Robotics, Inc main: 617.500.2487 | direct: 617.500.4188

[rethink-imcmahon]

The underlying issue here was that null grippers didn't have any mass, which caused Gazebo to act super funny. I added a nominal mass to the grippers in https://github.com/RethinkRobotics/baxter_common/pull/75. Thanks for reporting this!