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graiola / wolf-setup

WoLF: Whole-body Locomotion Framework for quadruped robots
GNU General Public License v3.0
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Robot Model Visualization #10

Closed itaouil closed 2 years ago

itaouil commented 2 years ago

Hi @graiola,

I noticed that the robot model of the robot in RVIZ for only the AlienGo is missing the leg joints.

I am not sure if this is because of the latest pushes or maybe it is a bug on my side. Do you also have the same thing in your workspace?

image

image

EnricoMingo commented 2 years ago

Do you have any message in the terminal when running rviz with aliengo?

itaouil commented 2 years ago

I did not see any specific or new errors/warnings compared to before.

logging to /home/ilyass/.ros/log/0c6cc6ac-60c0-11ec-b9aa-1418c37b9864/roslaunch-tama-6851.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/opt/ros/melodic/share/wb_controller/launch/wb_controller_bringup_thesis.launch
started roslaunch server http://tama:36647/

SUMMARY
========

PARAMETERS
 * /aliengo/joint_state_publisher/publish_rate: 10000
 * /aliengo/joint_state_publisher/type: joint_state_contr...
 * /aliengo/wb_controller/damp_max: 0.1
 * /aliengo/wb_controller/default_base_angular_velocity: 0.4
 * /aliengo/wb_controller/default_base_linear_velocity: 0.5
 * /aliengo/wb_controller/default_contact_threshold: 30.0
 * /aliengo/wb_controller/default_duty_factor: 0.3
 * /aliengo/wb_controller/default_step_height: 0.065
 * /aliengo/wb_controller/default_swing_frequency: 4.2
 * /aliengo/wb_controller/determinant_max: 0.5
 * /aliengo/wb_controller/estimation_orientation_type: imu_magnetometer
 * /aliengo/wb_controller/estimation_position_type: ground_truth
 * /aliengo/wb_controller/gains/CoM/Kd/x: 50.0
 * /aliengo/wb_controller/gains/CoM/Kd/y: 50.0
 * /aliengo/wb_controller/gains/CoM/Kd/z: 50.0
 * /aliengo/wb_controller/gains/CoM/Kp/x: 200.0
 * /aliengo/wb_controller/gains/CoM/Kp/y: 200.0
 * /aliengo/wb_controller/gains/CoM/Kp/z: 200.0
 * /aliengo/wb_controller/gains/CoM/weight: 1.0
 * /aliengo/wb_controller/gains/Postural/weight: 1.0
 * /aliengo/wb_controller/gains/angular_momentum/weight: 0.1
 * /aliengo/wb_controller/gains/clik_gain: 5.0
 * /aliengo/wb_controller/gains/kd_stance/haa: 5.0
 * /aliengo/wb_controller/gains/kd_stance/hfe: 5.0
 * /aliengo/wb_controller/gains/kd_stance/kfe: 5.0
 * /aliengo/wb_controller/gains/kd_swing/haa: 10.0
 * /aliengo/wb_controller/gains/kd_swing/hfe: 10.0
 * /aliengo/wb_controller/gains/kd_swing/kfe: 10.0
 * /aliengo/wb_controller/gains/kp_stance/haa: 100.0
 * /aliengo/wb_controller/gains/kp_stance/hfe: 100.0
 * /aliengo/wb_controller/gains/kp_stance/kfe: 100.0
 * /aliengo/wb_controller/gains/kp_swing/haa: 100.0
 * /aliengo/wb_controller/gains/kp_swing/hfe: 100.0
 * /aliengo/wb_controller/gains/kp_swing/kfe: 100.0
 * /aliengo/wb_controller/gains/lf_foot/Kd/pitch: 0
 * /aliengo/wb_controller/gains/lf_foot/Kd/roll: 0
 * /aliengo/wb_controller/gains/lf_foot/Kd/x: 15.0
 * /aliengo/wb_controller/gains/lf_foot/Kd/y: 15.0
 * /aliengo/wb_controller/gains/lf_foot/Kd/yaw: 0
 * /aliengo/wb_controller/gains/lf_foot/Kd/z: 30.0
 * /aliengo/wb_controller/gains/lf_foot/Kp/pitch: 0
 * /aliengo/wb_controller/gains/lf_foot/Kp/roll: 0
 * /aliengo/wb_controller/gains/lf_foot/Kp/x: 100.0
 * /aliengo/wb_controller/gains/lf_foot/Kp/y: 100.0
 * /aliengo/wb_controller/gains/lf_foot/Kp/yaw: 0
 * /aliengo/wb_controller/gains/lf_foot/Kp/z: 1000.0
 * /aliengo/wb_controller/gains/lf_foot/weight: 100.0
 * /aliengo/wb_controller/gains/lf_haa_joint/d: 5.0
 * /aliengo/wb_controller/gains/lf_haa_joint/i: 0.0
 * /aliengo/wb_controller/gains/lf_haa_joint/p: 100.0
 * /aliengo/wb_controller/gains/lf_hfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/lf_hfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/lf_hfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/lf_kfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/lf_kfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/lf_kfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/lh_foot/Kd/pitch: 0
 * /aliengo/wb_controller/gains/lh_foot/Kd/roll: 0
 * /aliengo/wb_controller/gains/lh_foot/Kd/x: 15.0
 * /aliengo/wb_controller/gains/lh_foot/Kd/y: 15.0
 * /aliengo/wb_controller/gains/lh_foot/Kd/yaw: 0
 * /aliengo/wb_controller/gains/lh_foot/Kd/z: 30.0
 * /aliengo/wb_controller/gains/lh_foot/Kp/pitch: 0
 * /aliengo/wb_controller/gains/lh_foot/Kp/roll: 0
 * /aliengo/wb_controller/gains/lh_foot/Kp/x: 100.0
 * /aliengo/wb_controller/gains/lh_foot/Kp/y: 100.0
 * /aliengo/wb_controller/gains/lh_foot/Kp/yaw: 0
 * /aliengo/wb_controller/gains/lh_foot/Kp/z: 1000.0
 * /aliengo/wb_controller/gains/lh_foot/weight: 100.0
 * /aliengo/wb_controller/gains/lh_haa_joint/d: 5.0
 * /aliengo/wb_controller/gains/lh_haa_joint/i: 0.0
 * /aliengo/wb_controller/gains/lh_haa_joint/p: 100.0
 * /aliengo/wb_controller/gains/lh_hfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/lh_hfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/lh_hfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/lh_kfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/lh_kfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/lh_kfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/rf_foot/Kd/pitch: 0
 * /aliengo/wb_controller/gains/rf_foot/Kd/roll: 0
 * /aliengo/wb_controller/gains/rf_foot/Kd/x: 15.0
 * /aliengo/wb_controller/gains/rf_foot/Kd/y: 15.0
 * /aliengo/wb_controller/gains/rf_foot/Kd/yaw: 0
 * /aliengo/wb_controller/gains/rf_foot/Kd/z: 30.0
 * /aliengo/wb_controller/gains/rf_foot/Kp/pitch: 0
 * /aliengo/wb_controller/gains/rf_foot/Kp/roll: 0
 * /aliengo/wb_controller/gains/rf_foot/Kp/x: 100.0
 * /aliengo/wb_controller/gains/rf_foot/Kp/y: 100.0
 * /aliengo/wb_controller/gains/rf_foot/Kp/yaw: 0
 * /aliengo/wb_controller/gains/rf_foot/Kp/z: 1000.0
 * /aliengo/wb_controller/gains/rf_foot/weight: 100.0
 * /aliengo/wb_controller/gains/rf_haa_joint/d: 5.0
 * /aliengo/wb_controller/gains/rf_haa_joint/i: 0.0
 * /aliengo/wb_controller/gains/rf_haa_joint/p: 100.0
 * /aliengo/wb_controller/gains/rf_hfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/rf_hfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/rf_hfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/rf_kfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/rf_kfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/rf_kfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/rh_foot/Kd/pitch: 0
 * /aliengo/wb_controller/gains/rh_foot/Kd/roll: 0
 * /aliengo/wb_controller/gains/rh_foot/Kd/x: 15.0
 * /aliengo/wb_controller/gains/rh_foot/Kd/y: 15.0
 * /aliengo/wb_controller/gains/rh_foot/Kd/yaw: 0
 * /aliengo/wb_controller/gains/rh_foot/Kd/z: 30.0
 * /aliengo/wb_controller/gains/rh_foot/Kp/pitch: 0
 * /aliengo/wb_controller/gains/rh_foot/Kp/roll: 0
 * /aliengo/wb_controller/gains/rh_foot/Kp/x: 100.0
 * /aliengo/wb_controller/gains/rh_foot/Kp/y: 100.0
 * /aliengo/wb_controller/gains/rh_foot/Kp/yaw: 0
 * /aliengo/wb_controller/gains/rh_foot/Kp/z: 1000.0
 * /aliengo/wb_controller/gains/rh_foot/weight: 100.0
 * /aliengo/wb_controller/gains/rh_haa_joint/d: 5.0
 * /aliengo/wb_controller/gains/rh_haa_joint/i: 0.0
 * /aliengo/wb_controller/gains/rh_haa_joint/p: 100.0
 * /aliengo/wb_controller/gains/rh_hfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/rh_hfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/rh_hfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/rh_kfe_joint/d: 8.0
 * /aliengo/wb_controller/gains/rh_kfe_joint/i: 0.0
 * /aliengo/wb_controller/gains/rh_kfe_joint/p: 300.0
 * /aliengo/wb_controller/gains/waistRPY/Kd/pitch: 30.0
 * /aliengo/wb_controller/gains/waistRPY/Kd/roll: 50.0
 * /aliengo/wb_controller/gains/waistRPY/Kd/x: 0.0
 * /aliengo/wb_controller/gains/waistRPY/Kd/y: 0.0
 * /aliengo/wb_controller/gains/waistRPY/Kd/yaw: 16.0
 * /aliengo/wb_controller/gains/waistRPY/Kd/z: 0.0
 * /aliengo/wb_controller/gains/waistRPY/Kp/pitch: 140.0
 * /aliengo/wb_controller/gains/waistRPY/Kp/roll: 240.0
 * /aliengo/wb_controller/gains/waistRPY/Kp/x: 0.0
 * /aliengo/wb_controller/gains/waistRPY/Kp/y: 0.0
 * /aliengo/wb_controller/gains/waistRPY/Kp/yaw: 80.0
 * /aliengo/wb_controller/gains/waistRPY/Kp/z: 0.0
 * /aliengo/wb_controller/gains/waistRPY/weight: 1.0
 * /aliengo/wb_controller/gains/waistZ/Kd/pitch: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kd/roll: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kd/x: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kd/y: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kd/yaw: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kd/z: 50.0
 * /aliengo/wb_controller/gains/waistZ/Kp/pitch: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kp/roll: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kp/x: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kp/y: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kp/yaw: 0.0
 * /aliengo/wb_controller/gains/waistZ/Kp/z: 200.0
 * /aliengo/wb_controller/gains/waistZ/weight: 0.0
 * /aliengo/wb_controller/joy_node/autorepeat_rate: 500
 * /aliengo/wb[ INFO] [1639913851.708195972]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1639913851.709399082]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1639913853.174199766]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1639913853.220157040]: Physics dynamic reconfigure ready.
[ INFO] [1639913853.819725021]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1639913853.822192085]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1639913853.828092133]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.854745475]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.858466422]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.860216344]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.862794933]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.867664517]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.870595987]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.872035617]: bumper plugin missing <frameName>, defaults to world
[ INFO] [1639913853.910162887]: Loading gazebo_ros_control plugin
[ INFO] [1639913853.910339851]: Starting gazebo_ros_control plugin in namespace: aliengo
[ INFO] [1639913853.911425830]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1639913854.027057836]: Loaded gazebo_ros_control.
[info] Generated joint id map as:
 joint_map:
  1: lf_haa_joint
  2: lf_hfe_joint
  3: lf_kfe_joint
  4: lh_haa_joint
  5: lh_hfe_joint
  6: lh_kfe_joint
  7: rf_haa_joint
  8: rf_hfe_joint
  9: rf_kfe_joint
  10: rh_haa_joint
  11: rh_hfe_joint
  12: rh_kfe_joint
[info] Floating base model: TRUE
[info] Floating base link name: trunk
[info] Joint name: lf_haa_joint RBDL ID: 6
[info] Joint name: lf_hfe_joint RBDL ID: 7
[info] Joint name: lf_kfe_joint RBDL ID: 8
[info] Joint name: lh_haa_joint RBDL ID: 9
[info] Joint name: lh_hfe_joint RBDL ID: 10
[info] Joint name: lh_kfe_joint RBDL ID: 11
[info] Joint name: rf_haa_joint RBDL ID: 12
[info] Joint name: rf_hfe_joint RBDL ID: 13
[info] Joint name: rf_kfe_joint RBDL ID: 14
[info] Joint name: rh_haa_joint RBDL ID: 15
[info] Joint name: rh_hfe_joint RBDL ID: 16
[info] Joint name: rh_kfe_joint RBDL ID: 17
[info] Floating base origin offset: 0 0 0
[ok  ] ModelInterfaceRBDL initialized successfully!
[info] Model ordered chains: 
virtual_chain
lf_leg
lh_leg
rf_leg
rh_leg

[ INFO] [1639913854.175145055]: ROS-Control joints order: lf_haa_joint
[ INFO] [1639913854.175170110]: ROS-Control joints order: lf_hfe_joint
[ INFO] [1639913854.175178296]: ROS-Control joints order: lf_kfe_joint
[ INFO] [1639913854.175187981]: ROS-Control joints order: lh_haa_joint
[ INFO] [1639913854.175194720]: ROS-Control joints order: lh_hfe_joint
[ INFO] [1639913854.175201207]: ROS-Control joints order: lh_kfe_joint
[ INFO] [1639913854.175207570]: ROS-Control joints order: rf_haa_joint
[ INFO] [1639913854.175216861]: ROS-Control joints order: rf_hfe_joint
[ INFO] [1639913854.175226886]: ROS-Control joints order: rf_kfe_joint
[ INFO] [1639913854.175237315]: ROS-Control joints order: rh_haa_joint
[ INFO] [1639913854.175246727]: ROS-Control joints order: rh_hfe_joint
[ INFO] [1639913854.175255788]: ROS-Control joints order: rh_kfe_joint
[ INFO] [1639913854.175318710]: lf_leg lf_haa_joint 6
[ INFO] [1639913854.175331790]: lf_leg lf_hfe_joint 7
[ INFO] [1639913854.175339191]: lf_leg lf_kfe_joint 8
[ INFO] [1639913854.175351092]: rf_leg rf_haa_joint 12
[ INFO] [1639913854.175364810]: rf_leg rf_hfe_joint 13
[ INFO] [1639913854.175374943]: rf_leg rf_kfe_joint 14
[ INFO] [1639913854.175382532]: lh_leg lh_haa_joint 9
[ INFO] [1639913854.175389743]: lh_leg lh_hfe_joint 10
[ INFO] [1639913854.175397911]: lh_leg lh_kfe_joint 11
[ INFO] [1639913854.175407894]: rh_leg rh_haa_joint 15
[ INFO] [1639913854.175421416]: rh_leg rh_hfe_joint 16
[ INFO] [1639913854.175429811]: rh_leg rh_kfe_joint 17
[ INFO] [1639913854.175440816]: Hip names: lf_hip
[ INFO] [1639913854.175447512]: Hip names: rf_hip
[ INFO] [1639913854.175453764]: Hip names: lh_hip
[ INFO] [1639913854.175463724]: Hip names: rh_hip
[ INFO] [1639913854.175473361]: Base name: trunk
[ INFO] [1639913854.176250885]: Position limits set to: 
-min:  -1e+09   -1e+09   -1e+09   -1e+09   -1e+09   -1e+09 -1.22173   -1e+16 -2.77507 -1.22173   -1e+16 -2.77507 -1.22173   -1e+16 -2.77507 -1.22173   -1e+16 -2.77507
-max:    1e+09     1e+09     1e+09     1e+09     1e+09     1e+09   1.22173     1e+16 -0.645772   1.22173     1e+16 -0.645772   1.22173     1e+16 -0.645772   1.22173     1e+16 -0.645772
[ INFO] [1639913854.176294474]: Velocity limits set to: 
-max:1e+09 1e+09 1e+09 1e+09 1e+09 1e+09    20    20    16    20    20    16    20    20    16    20    20    16
[ INFO] [1639913854.176330356]: Effort limits set to: 
-max: 0  0  0  0  0  0 44 44 55 44 44 55 44 44 55 44 44 55
[ INFO] [1639913854.184639401]: Using contact sensors
[info] PilerHelper: expanding to 6 x 6 
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[info] #USING BACK-END @LEVEL 0: qpOASES
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[ok  ] OpenSotBackEndQPOases so library found! 

[info] PROBLEM 0 ID: Contact_lf_foot+Contact_lh_foot+Contact_rf_foot+Contact_rh_foot 
[info] CONSTRAINTS ID:  
[info]     # OF CONSTRAINTS: 0 
[info] BOUNDS ID: AGGR_fb_limits 
[info]     # OF BOUNDS: 6 
[info] # OF VARIABLES: 6 
[info] eps Regularisation factor: 2.221000e-07 
[info] qpOASES # OF CONSTRAINTS: 0
[info] qpOASES # OF VARIABLES: 6
[info] 
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[info] #USING BACK-END @LEVEL 0: qpOASES
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[ok  ] OpenSotBackEndQPOases so library found! 

[info] PROBLEM 0 ID: lf_foot_0to2+lh_foot_0to2+rf_foot_0to2+rh_foot_0to2+waistRPY_3to5+angular_momentum+CoM 
[info] CONSTRAINTS ID: AGGR_AGGR_wrenches_limits+torque_limits+friction_cones 
[info]     # OF CONSTRAINTS: 62 
[info] BOUNDS ID: AGGR_wrenches_limits+torque_limits+friction_cones 
[info]     # OF BOUNDS: 0 
[info] # OF VARIABLES: 30 
[info] eps Regularisation factor: 2.221000e-13 
[info] qpOASES # OF CONSTRAINTS: 62
[info] qpOASES # OF VARIABLES: 30
[info] 


and these additionally that were not dumped in the log file above:

image

graiola commented 2 years ago

I saw the same visualization problem on another computer, but it doesn't happen on mine... I would say that it is a graphic glitch related to the meshes. Maybe changing the meshes could help...? You can try to open the lowerleg meshes with another program on your computer and see if you can correctly visualize them.

itaouil commented 2 years ago

Yes. I am actually using a new PC.

I tried to open the calf.dae mesh with meshlab and it crashes every single time. While for the other meshes everything is correctly visualized.

I also tried to replace the meshes with the other ones from a unitree robotics github repo but the result is still the same.

How was the same problem solved on the other PC that you are referring to?

graiola commented 2 years ago

I never solved it on my work pc :( , on the bright side, it is only a graphic glitch, it does not affect the simulation or the control (and it doesn't affect the gazebo visualization). It could be a problem related to the drivers... .

itaouil commented 2 years ago

I see.

Yes true. I was able to work with the controller no problem.

If I find a solution in the future will make sure to update this issue.

Thanks :)

P.S: This might be my last issue of the year haha. Therefore thanks for your all your help so far and happy holidays :)

graiola commented 2 years ago

Hi @itaouil , I made public again the descriptions, you can find them here:

https://github.com/graiola/wolf_descriptions

feel free to open PRs :)

itaouil commented 2 years ago

Nice!

Thanks :)