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boxer-cpr / boxer_manipulation

Repository to store all necessary packages for common manipulator integrations
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Boxer in gazebo #2

Open ruinianxu opened 1 year ago

ruinianxu commented 1 year ago

Hi,

Thanks for open sourcing these codes. For boxer robot, I wonder if you ever made it work in the gazebo. Currently I am facing the issue of failing initializing controllers for manipulators in the gazebo.

Best, Ruinian Xu

civerachb-cpr commented 1 year ago

Hi, sorry for the late reply. We've had problems simulating the Kinova Gen3 and Gen3 Lite arms when mounted to our robots in Gazebo. The issue appears to be related to Kinova's simulation implementation. You can see more details about the issue in this issue in the ros_kortex package: https://github.com/Kinovarobotics/ros_kortex/issues/163

ruinianxu commented 1 year ago

@civerachb-cpr Thanks for reply. I am facing the different issue shown in the following. I have no any problems with controlling kinova itself in gazebo, which means this is not an issue related to any ros control related packages. Additionally, I've tried replaced kortex_ros package under boxer with the official one but this issue remained, which means urdf should be ok. I am really confused about it. Do you have any ideas about it? 

[ERROR] [1677680732.132385258, 0.581000000]: Could not find joint 'left_arm_joint_1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1677680732.132563014, 0.581000000]: Failed to initialize the controller
[ERROR] [1677680732.132603189, 0.581000000]: Initializing controller 'left_arm_gen3_joint_trajectory_controller' failed
[ERROR] [1677680732.162208888, 0.610000000]: Exception thrown while initializing controller 'left_arm_joint_1_position_controller'.
Could not find resource 'left_arm_joint_1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1677680732.162265826, 0.610000000]: Initializing controller 'left_arm_joint_1_position_controller' failed
civerachb-cpr commented 1 year ago

If you run roslaunch boxer_viz view_model.launch can you see both arms mounted to the robot? What are the names of the joints? You should see something like this in Rviz:

boxer_dual_gen3

What command are you running when you see those errors about missing joint controllers?