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chvmp / champ_setup_assistant

CHAMP Package Config Generator
BSD 3-Clause "New" or "Revised" License
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URDF rules that can be load #1

Closed Biruberuvinto closed 3 years ago

Biruberuvinto commented 3 years ago

Hello. Thank you for making a great tool.

Is there a rule in URDF that this tool can load? The sample URDF, ANYMAL, loaded successfully. However, I was not able to read the URDF of a completely different 3-axis robot arm. The error message: "poll failed with error Interrupted system call" is displayed and the process ends.

Thank you.

grassjelly commented 3 years ago

Hi,

This setup assistant is mainly for quadrupedal robots, for this project to be exact - https://github.com/chvmp/champ.

Unless you meant, you’re loading a quadrupedal robot’s URDF with a robotic arm?

Biruberuvinto commented 3 years ago

Thank you for your prompt reply.

I know the purpose of the tool is champ.

I interested if a simple robot arm could be used instead of the URDF of a quadrupedal robot equipped with a robot arm. Because I tried to set up a quadrupedal robot with other joints with this tool.

Biruberuvinto commented 3 years ago

@grassjelly When I referred to the source file (urdf_parser.py), it said that it was adding to the new list when the number of end links was four. Lines 227 to 234.

This means that a URDF that doesn't have 4 endlinks will not be added to the list and will fail?

grassjelly commented 3 years ago

The function acts as a filter by removing a potential manipulator in the urdf file. This works by checking the number of actuators in each chain and counting how many times that number occured. If that number has occurred 4 times(4 legs) most likely the end link belongs to a leg, otherwise it will omit.

Biruberuvinto commented 3 years ago

It was helpful. Thank you very much.

Incidentally, I tried to generate it with the URDF file of "https://github.com/ReactRobotics/DogBotV4/tree/master/ROS". Then the following notice was displayed on the terminal.

[WARN] [1596091560.599070]: base_joint's xyz are not defined. Setting these values ​​to zero [WARN] [1596091560.599573]: base_joint's rpy are not defined. Setting these values ​​to zero [WARN] [1596091560.600328]: base_joint's xyz are not defined. Setting these values ​​to zero [WARN] [1596091560.600689]: base_joint's rpy are not defined. Setting these values ​​to zero [WARN] [1596091560.601352]: base_joint's xyz are not defined. Setting these values ​​to zero [WARN] [1596091560.601682]: base_joint's rpy are not defined. Setting these values ​​to zero [WARN] [1596091560.602307]: base_joint's xyz are not defined. Setting these values ​​to zero [WARN] [1596091560.602631]: base_joint's rpy are not defined.Setting these values ​​to zero

When I try the generated file with the command: "$ roslaunch bringup.launch rviz:=true", it looks like the picture. Do you know how to fix the error? image

grassjelly commented 3 years ago

Can you please post this as a separate thread in the champ repository instead as it's a different issue. Thanks! Closing this for now.