Open gerardcanal opened 5 years ago
Hi Gerad!
Thanks for reporting this issue. If you are still interested in the Sawyer Gazebo simulation, you could try out the following Pull Request #52. It was tested for ROS Noetic but, I am quite confident that this branch will also fix the issue in melodic.
Hi! First of all, say that this happens in Ubuntu 18.04 with melodic, which I am not sure it's supported. I tried with a 16.04 vm and gazebo segfaults so I could not verify whether the issue is there too. The simulation in 18.04 works well (there's one missing joint in the wrist, but rviz displays it properly).
The issue I am observing is that the endpoint_state topic
/robot/limb/right/endpoint_state
is always providing invalid poses, which are (0,0,0). I tracked this down toArmKinematicsInterface::computePositionFK
, where it seems that the KDL's JntToCart returns an invalid solution. I'm not familiar with KDL.I find it quite strange that it's FK that fails (was expecting anything to not work but this). I am using the melodic-devel branch from sns_ik, although I guess that's not related to sns_ik. Moreover, all TFs seem correct in rviz.
I am not sure about what can be going on, or whether it's KDL's, sawyer_simulator or if it's just not supported yet in 18.04.