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How to Apply the Algorithms to Simulated Robots？ #6

Open wlwsjl opened 5 years ago

wlwsjl commented 5 years ago

Could you provide interactive tutorials of STEAP algorithm with simulated robot, such as vector, wam, pr2, etc? How to set up action sever in simulated robot's API?　I don't know how to solve　'Cannot find trajectory_control server'.

Shuang1997 commented 3 years ago

How could I solve this problem? Cannot find trajectory_control server '/vector/full_body_controller/trajectory'

mfinean commented 3 years ago

How could I solve this problem? Cannot find trajectory_control server '/vector/full_body_controller/trajectory'

You need to have a controller running as an action server as mentioned in the FAQ on the readme. As an example: sudo apt-get install pr2_gazebo roslaunch pr2_gazebo pr2_empty_world.launch

You will now have multiple controllers running such base_controller and head_traj_controller

Shuang1997 commented 3 years ago

How could I solve this problem?

Cannot find trajectory_control server '/vector/full_body_controller/trajectory'

You need to have a controller running as an action server as mentioned in the FAQ on the readme. As an example:

sudo apt-get install pr2_gazebo

roslaunch pr2_gazebo pr2_empty_world.launch

You will now have multiple controllers running such base_controller and head_traj_controller

Thanks！

twoton commented 2 years ago

How could I solve this problem? Cannot find trajectory_control server '/vector/full_body_controller/trajectory'

You need to have a controller running as an action server as mentioned in the FAQ on the readme. As an example: sudo apt-get install pr2_gazebo roslaunch pr2_gazebo pr2_empty_world.launch

You will now have multiple controllers running such base_controller and head_traj_controller

when I run: roslaunch pr2_gazebo pr2_empty_world.launch I still have the error : Cannot find trajectory_control server '/vector/full_body_controller/trajectory'. @mfinean what can I to do next step? Could you tell me this? thanks!

mfinean commented 2 years ago

Your error there is basically saying that it expects a robot under the namespace 'vector' to be running a trajectory_control server called 'full_body_controller'. So this suggests that you haven't launch the vector robot and its controllers. The example that I mentioned previously is for running controllers on the pr2 robot and so won't be applicable here.

I haven't used the vector robot and so don't know the procedure exactly. I assume that this is the code for the vector robot https://github.com/nickovaras/vector. What you need to do is launch the robot and its controller before running piper.

twoton commented 2 years ago

Your error there is basically saying that it expects a robot under the namespace 'vector' to be running a trajectory_control server called 'full_body_controller'. So this suggests that you haven't launch the vector robot and its controllers. The example that I mentioned previously is for running controllers on the pr2 robot and so won't be applicable here.

I haven't used the vector robot and so don't know the procedure exactly. I assume that this is the code for the vector robot https://github.com/nickovaras/vector. What you need to do is launch the robot and its controller before running piper.

Thanks!!