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Asynchronous Multi-Body Framework
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ERROR in running 'input_device_teleop_example' #159

Open GPROWIRELESS opened 2 years ago

GPROWIRELESS commented 2 years ago

Hello, I'm new on AMBF and I try to run the example in the AMBF files

The example is 'https://github.com/WPI-AIM/ambf/tree/ambf-1.0/ambf_ros_modules/examples/input_device_teleop_example'. At the second step, after I run: sudo ./ambf_simulator -p60 -t1 --launch_file home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml -l10 -i0 The Error is :

bad file Failed to Load home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml ERROR! COULDN'T DETERMINE THE CORRECT ADF LOADER FOR THE FILE "home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml"

My environment: Ubuntu 20.04 ROS: noetic version:1.15.14

What's the ADF LOADER and how can I fix it?

Thank you for your help, Best FrogsHunter

adnanmunawar commented 2 years ago

Hello, Thanks for posting the detail of your steps. In your command:

sudo ./ambf_simulator -p60 -t1 --launch_file home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml -l10 -i0

I think there is a missing / before the home/dvrk/... which is probably why the ADF loader is complaining.

Another possible issue that you may end up running into is with the sudo command. Is there any specific reason you are using sudo?

GPROWIRELESS commented 2 years ago

Thank you for answering my question! I have fixed the problem, it was caused by this root. I copy the path from file properties and missed something. I typed it by myself and it didn't happen again. I used sudo since the USB device can't be detected without sudo.

GPROWIRELESS commented 2 years ago

Well, I still have issues with this example. Right now I can run the command: sudo ./ambf_simulator -p60 -t1 --launch_file /home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml -l0 -i0 but the model can't be controlled by the panel created by python.

GPROWIRELESS commented 2 years ago

ASYNCHRONOUS MULTI-BODY FRAMEWORK SIMULATOR (AMBF Simulator)

    (http://practicepoint.wpi.edu)
      (Copyright 2019-2021)

STARTUP COMMAND LINE OPTIONS:

ambf_simulator Command Line Options: -h [ --help ] Show help -n [ --ndevs ] arg (=0) Number of Haptic Devices to Load -i [ --load_devices ] arg Index number of devices to load which is specified in input_device.yaml -e [ --enableforces ] arg (=0) Enable Force Feedback on Haptic Devices -p [ --phx_frequency ] arg (=1000) Physics Update Frequency (default: 1000 Hz) -d [ --htx_frequency ] arg (=1000) Haptics Update Frequency (default: 1000 Hz) -t [ --fixed_phx_timestep ] arg (=0) Use Fixed Time-Step for Physics (default: False) -f [ --fixed_htx_timestep ] arg (=0) Use Fixed Time-Step for Haptics (default: False) --override_max_comm_freq arg Override the maximum publishing frequency for all afObjects (default: 1000 Hz) --override_min_comm_freq arg Override the minimum publishing frequency for all afObjects (default: 50 Hz) -g [ --show_gui ] arg (=1) Show GUI --ns arg Override the default (or specified in ADF) world namespace -s [ --sim_speed_factor ] arg (=1) Override the speed of "NON REAL-TIME" simulation by a specified factor (Default 1.0) --plugins arg Simulator plugins to load, .e.g. --plugins ,

loads plugin1 and plugin2 simualtor plugin --launch_file arg Launch file path to load (default: /ambf_models/descriptions/lau nch.yaml -a [ --load_multibody_files ] arg Description Filenames of Multi-Body(ies) to Launch, .e.g. -a /test.yaml, /test2.yaml will load multibodies test.yaml and test2.yaml if they are valid files -l [ --load_multibodies ] arg Index of Multi-Body(ies) to Launch, .e.g. -l 1,2,3 will load multibodies at indexes 1,2,3. See launch.yaml file ------------------------------------------------------------ INFO! USING SIMULATION SPEED FACTOR OF: 1 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml", ADF version not defined thus assuming VERSION_1_0 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./world/world.yaml", ADF version not defined thus assuming VERSION_1_0 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./input_devices/input_devices.yaml", ADF version not defined thus assuming VERSION_1_0 ERROR! PHYSICAL DEVICES HARDWARE NAME NOT DEFINED, IGNORING INFO! INITIALIZING ROS NODE HANDLE INFO! Thread Joined: Plane INFO! Thread Joined: light_left INFO! Thread Joined: camera1 INFO! Thread Joined: World WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./blender-kuka-tip-sphere.yaml", ADF version not defined thus assuming VERSION_1_0 INFO! Thread Joined: base INFO! Thread Joined: link1 INFO! Thread Joined: link2 INFO! Thread Joined: link3 INFO! Thread Joined: link4 INFO! Thread Joined: link5 INFO! Thread Joined: link6 INFO! Thread Joined: link7 INFO! Thread Joined: kuka_tip ERROR! COMMUNICATION TYPE FOR OBJECT NAMED base-link1 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link1-link2 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link2-link3 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link3-link4 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link4-link5 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link5-link6 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link6-link7 OF TYPE: JOINT NOT IMPLEMENTED YET ERROR! COMMUNICATION TYPE FOR OBJECT NAMED link7-tip OF TYPE: JOINT NOT IMPLEMENTED YET INFO! TOTAL ACTIVE COMM INSTANCES: 13 INFO! WAITING FOR ALL COMM INSTANCES TO UNREGISTER ... INFO! REMAINING ACTIVE COMMs: 13 INFO! REMAINING ACTIVE COMMs: 6 INFO! DESTROYING ROS NODE HANDLE INFO! Thread ShutDown: camera1 INFO! Thread ShutDown: light_left INFO! Thread ShutDown: Plane INFO! Thread ShutDown: base INFO! Thread ShutDown: kuka_tip INFO! Thread ShutDown: link1 INFO! Thread ShutDown: link2 INFO! Thread ShutDown: link3 INFO! Thread ShutDown: link4 INFO! Thread ShutDown: link5 INFO! Thread ShutDown: link6 INFO! Thread ShutDown: link7 INFO! Thread ShutDown: World
GPROWIRELESS commented 2 years ago

The simulator window shows up but I can't control the model. image

adnanmunawar commented 2 years ago

Can you try the new commit above? Please make sure to set the -l 10 instead of -l 0 as you have above. Also, this example does not rely on any USB devices, so running with sudo is not required.

GPROWIRELESS commented 2 years ago

I have tried to run with -l 10 but no model showed in the window, so I change it to -I 0. image

GPROWIRELESS commented 2 years ago

dvrk@dvrk-desktop:~/ambf/bin/lin-x86_64$ ./ambf_simulator -p60 -t1 --launch_file /home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml -l10 -i0

ASYNCHRONOUS MULTI-BODY FRAMEWORK SIMULATOR (AMBF Simulator)

    (http://practicepoint.wpi.edu)
      (Copyright 2019-2021)

STARTUP COMMAND LINE OPTIONS:

ambf_simulator Command Line Options: -h [ --help ] Show help -n [ --ndevs ] arg (=0) Number of Haptic Devices to Load -i [ --load_devices ] arg Index number of devices to load which is specified in input_device.yaml -e [ --enableforces ] arg (=0) Enable Force Feedback on Haptic Devices -p [ --phx_frequency ] arg (=1000) Physics Update Frequency (default: 1000 Hz) -d [ --htx_frequency ] arg (=1000) Haptics Update Frequency (default: 1000 Hz) -t [ --fixed_phx_timestep ] arg (=0) Use Fixed Time-Step for Physics (default: False) -f [ --fixed_htx_timestep ] arg (=0) Use Fixed Time-Step for Haptics (default: False) --override_max_comm_freq arg Override the maximum publishing frequency for all afObjects (default: 1000 Hz) --override_min_comm_freq arg Override the minimum publishing frequency for all afObjects (default: 50 Hz) -g [ --show_gui ] arg (=1) Show GUI --ns arg Override the default (or specified in ADF) world namespace -s [ --sim_speed_factor ] arg (=1) Override the speed of "NON REAL-TIME" simulation by a specified factor (Default 1.0) --plugins arg Simulator plugins to load, .e.g. --plugins ,

loads plugin1 and plugin2 simualtor plugin --launch_file arg Launch file path to load (default: /ambf_models/descriptions/lau nch.yaml -a [ --load_multibody_files ] arg Description Filenames of Multi-Body(ies) to Launch, .e.g. -a /test.yaml, /test2.yaml will load multibodies test.yaml and test2.yaml if they are valid files -l [ --load_multibodies ] arg Index of Multi-Body(ies) to Launch, .e.g. -l 1,2,3 will load multibodies at indexes 1,2,3. See launch.yaml file ------------------------------------------------------------ INFO! USING SIMULATION SPEED FACTOR OF: 1 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml", ADF version not defined thus assuming VERSION_1_0 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./world/world.yaml", ADF version not defined thus assuming VERSION_1_0 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./input_devices/input_devices.yaml", ADF version not defined thus assuming VERSION_1_0 INFO! INITIALIZING ROS NODE HANDLE INFO! Thread Joined: Plane INFO! Thread Joined: light_left INFO! Thread Joined: camera1 INFO! Thread Joined: World ERROR! -l 10 greater than total number of files 1. Ignoring Found Lib: libdvrk_arm.so No of dVRK Masters detected: 0 WARNING! FAILED TO LOAD DEVICE: "MTML"
adnanmunawar commented 2 years ago

Did you run the gripper_control_via_device_ifc.py script before running the simulator?

GPROWIRELESS commented 2 years ago

Yes, I run the command 'python3 gripper_control_via_device_ifc.py' first, then the simulator.

adnanmunawar commented 2 years ago

Can you copy and paste the contents on these two files: ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml and ambf/ambf_ros_modules/examples/input_device_teleop_example/input_devices/input_devices.yaml

adnanmunawar commented 2 years ago

Did you by any chance modify the ambf/ambf_ros_modules/examples/input_device_teleop_example/input_devices/input_devices.yaml or the ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml file in your local repo.

GPROWIRELESS commented 2 years ago

What should I do in those two files? Change the path to the absolute path?

adnanmunawar commented 2 years ago

No, I am asking if you modified any of these two files in your local copy? Based on your comment above, it appears that you did. That is why I asked for you to copy and paste the contents of these files (that are on your local machine) here so that I can see them.

INFO! USING SIMULATION SPEED FACTOR OF: 1 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/launch.yaml", ADF version not defined thus assuming VERSION_1_0 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./world/world.yaml", ADF version not defined thus assuming VERSION_1_0 WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./input_devices/input_devices.yaml", ADF version not defined thus assuming VERSION_1_0 INFO! INITIALIZING ROS NODE HANDLE INFO! Thread Joined: Plane INFO! Thread Joined: light_left INFO! Thread Joined: camera1 INFO! Thread Joined: World ERROR! -l 10 greater than total number of files 1. Ignoring Found Lib: libdvrk_arm.so No of dVRK Masters detected: 0 WARNING! FAILED TO LOAD DEVICE: "MTML"

GPROWIRELESS commented 2 years ago

input devices: [ MTML, #0 MTMR, #1 Geomagic Touch, #2 Razer Hydra0, #3 Razer Hydra1, #4 Novint Falcon1, #5 Novint Falcon2, #6 Sigma7, #7 Omega7 #8 ]

MTML: hardware name: MTML haptic gain: {linear: 0.03, angular: 0.0} workspace scaling: 5 simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper small red.yaml" location: { position: {x: -0.5, y: 0.0, z: 0}, orientation: {r: 0, p: 0.0, y: 0}} button mapping: { a1: 1, a2: 6, next mode: 3, prev mode: 4} pair cameras: [camera2] # The cameras paired with this IID-SDE pair

visible: True

# visible size: 0.005

MTMR: hardware name: MTMR haptic gain: {linear: 0.03, angular: 1} workspace scaling: 5 simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper small red.yaml"

root link:

location: { position: {x: -0.5, y: 0, z: 0}, orientation: {r: 0, p: 0, y: 0}} button mapping: { a1: 1, a2: 2, next mode: 3, prev mode: 4} pair cameras: [camera1, camera2] # The motion of the IID-SDE is w.r.t the first camera in the list

Geomagic Touch: hardware name: PHANTOM Omni haptic gain: {linear: 0.000, angular: 0.0} deadband: 0.01 max force: 2 max jerk: 0.2 workspace scaling: 10 simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/resistive/sensorized_box/gripper.yaml" location: { position: {x: 0.0, y: 0.5, z: 0.0}, orientation: {r: 0, p: 0, y: 0}} button mapping: { a1: 0, a2: -1, g1: 1, next mode: 2, prev mode: 3}

visible: True

# visible size: 0.005

Razer Hydra0: hardware name: Razer Hydra haptic gain: {linear: 10.0, angular: 0.0}

controller gain: {

#   linear: {P: 0.0, D: 0.0},
#   angular: {P: 0.0, D: 0.0}}
workspace scaling: 5
simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper.yaml"
# root link: "/ambf/env/BODY l_wrist_roll_link"
location: {
  position: {x: 0.0, y: -1.0, z: 0},
  orientation: {r: 0.0, p: 0.0, y: 0.0}}
# orientation offset: {r: 0.0, p: 0.0, y: 0}
button mapping: {
  a1: 0,
  a2: 1,
  next mode: 2,
  prev mode: 3}
# visible: True
# visible size: 0.005

Razer Hydra1: hardware name: Razer Hydra haptic gain: {linear: 10.0, angular: 0.0} workspace scaling: 5 simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper.yaml"

root link: "/ambf/env/BODY r_wrist_roll_link"

location: {
  position: {x: 0.0, y: 0.5, z: 0},
  orientation: {r: 0, p: 0, y: 0}}
# orientation offset: {r: 0.0, p: 0.0, y: 0}
button mapping: {
  a1: 0,
  a2: 1,
  next mode: 2,
  prev mode: 3}
# visible: True
# visible size: 0.005

Novint Falcon1: hardware name: Falcon haptic gain: {linear: 0.5, angular: 0.0} deadband: 0.01 max force: 10 workspace scaling: 10 simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper.yaml" location: { position: {x: 0.0, y: 0.5, z: 0.0}, orientation: {r: 0, p: 0, y: 0}} button mapping: { a1: 0, a2: 2, next mode: 3, prev mode: 1}

visible: True

# visible size: 0.005

Novint Falcon2: hardware name: Falcon haptic gain: {linear: 0.5, angular: 0.0} deadband: 0.01 max force: 10 workspace scaling: 10 simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper.yaml" location: { position: {x: 0.0, y: -0.5, z: 0.0}, orientation: {r: 0, p: 0, y: 0}} button mapping: { a1: 0, a2: 2, next mode: 3, prev mode: 1}

visible: True

# visible size: 0.005

Sigma7: hardware name: sigma.7 haptic gain: {linear: 0.01, angular: 0.0} deadband: 0.01 workspace scaling: 5 enable joint control: true simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/resistive/sensorized_box/gripper.yaml" location: { position: {x: 0.5, y: 0.5, z: 0.0}, orientation: {r: 0.0, p: 0.0, y: 0.0}} max force: 2

visible: True

# visible size: 0.005

Omega7: hardware name: omega.7 haptic gain: {linear: 0.01, angular: 0.0} deadband: 0.01 workspace scaling: 5 enable joint control: true simulated multibody: "/home/dvrk/ambf/ambf_models/descriptions/multi-bodies/grippers/pr2 gripper.yaml" location: { position: {x: 0.5, y: 0.5, z: 0.0}, orientation: {r: 0.0, p: 0.0, y: 0.0}} max force: 2

visible: True

# visible size: 0.005
GPROWIRELESS commented 2 years ago

I change the absolute path in the file'/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/input_devices'. If I don't do that, there will be ERROR under the WARNING WARNING! For File "/home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./input_devices/input_devices.yaml", ADF version not defined thus assuming VERSION_1_0 bad file Failed to Load /home/dvrk/ambf/ambf_ros_modules/examples/input_device_teleop_example/./input_devices/../multi-bodies/grippers/pr2 gripper small red.yaml

adnanmunawar commented 2 years ago

I think we are narrowing in on the problem. You replaced the contents of ambf/ambf_ros_modules/examples/input_device_teleop_example/input_devices/input_devices.yaml file from somewhere else so you should have mentioned this earlier. Please restore it to the original version COMPLETELY to run the input_device_teleop example. Not only is the device order different in this file, the simulated multibodies are also different from what is present in the original input_devices.yaml file.

GPROWIRELESS commented 2 years ago

Oh, I'm so sorry. I don't realize that. I replace the input_device.yaml from the pull request. Also, I replace the ambf/ambf_framework/afInputDevices.cpp from the pull request. I completely reinstall the AMBF now. The example works well.

GPROWIRELESS commented 2 years ago

I was wondering how can I use the haptic device as an input device in AMBF? Do I need to create a python client to get the input data and send it to the AMBF?

adnanmunawar commented 2 years ago

Glad to hear that the example is working now.

What haptic device do want to use with AMBF? And what do you want to do with the haptic device, i.e.

  1. Control a robot (with links connected via joints such that you shall be controlling the joints to make the robot react to your input device), OR
  2. Control a free body, such as a tool or a free-floating gripper that does not require you to operate in joint space.

If its the first option, you may use the Python client OR create an AMBF Plugin where you can do everything you want.

GPROWIRELESS commented 2 years ago

I try to use Omega.7 haptic device to control DVRK arms such as this one: image

GPROWIRELESS commented 2 years ago

I have installed the driver for my haptic device, but I don't know how to get data from the driver and send those data to the python client. Can you give me any advice?

adnanmunawar commented 2 years ago

Let's try to set up some time this Thursday for a zoom meeting as I don't have a force dimension device at hand to test this out.