Closed EspenKnoop closed 6 years ago
OK, I'd like to ask two things:
rosrun ec_grasp_planner planner.py --grasp SurfaceGrasp --rviz --handarm RBOHand2Kuka --file_output
. If you make this call in the "hybrid_automaton_manager_kuka/hybrid_automaton_manager_kuka/test_xmls" directory, then you can use the command ./ha_send_xml.sh hybrid_automaton.xml
to send the hybrid automaton to the manager.OK, Espen got the system running on his system. To do so, we changed two things:
Add try/catch to the tf_listener.waitForTransform(object_frame, robot_base_frame, rospy.Time(), rospy.Duration(10.0))
. Something like this:
… while True: try: tf_listener.waitForTransform(object_frame, robot_base_frame, rospy.Time(), rospy.Duration(20.0)) break except: pass rospy.sleep(1)
Make sure that the git submodule hybrid-automaton-tools-py in ec_grasp_planner is on branch soma_d41.
I have followed the installation instructions. Example 7.i works fine. For example 7.iii (Kuka Arm in Gazebo Simulation with TRIK Controller), steps 1-4 work fine.
For step 5, I get the following error:
If I run it without --ros_service_call, I get a different error:
I am on branch master.
Thanks!