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jhielson / neurorobotics_simulation_Neuro4PD

ROS-Webots-NAO robot
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(Daria) NAO is not moving but all the prints indicate the commands are being executed. #1

Open jhielson opened 4 years ago

jhielson commented 4 years ago

Daria could you elaborate more about the issue you identified in your computer and, also, explain how you solved it.

my-name-is-D commented 4 years ago

I have had a problem with NAo on webots. The hand was not opening and closing N time but only closing. Only the last sequence of the action was being executed and not in real time (0.00x instead of 1.0x) . So the model seemed not to move at all, there were no error displayed.

More details about my problem and the solutions here : https://stackoverflow.com/questions/61656522/webots-nao-controller-sequence-not-working

The problem may be due to a synchronization problem between webots and ROS. The problem was resolved thanks to the webots command robot.step() instead of rospy.sleep().

Else, if it's still not working even with that, there is a gazebo model of NAO on gazebo7: https://github.com/ros-naoqi/nao_virtual

If you have gazebo9 and wish to use NAO on gazebo9 then you need to effectuate changes. To do so i followed the errors displayed in my terminal (while trying to catkin make) and those links to convert gazebo 7 commands into gazebo9: https://bitbucket.org/osrf/gazebo/src/default/Migration.md?fileviewer=file-view-default https://github.com/pal-robotics/pal_gazebo_plugins/pull/11/files https://github.com/pal-robotics/pal_gazebo_plugins/issues/9

Even with that you may have an issue of NAO shaking (fingers/whole body) as it happened here: https://github.com/ros-naoqi/nao_virtual/issues/9

The problem is probably linked to a depreciation of version (again) and the PID not being well calibrated. This has yet to be resolved. So if you have, don't hesitate to share.

my-name-is-D commented 4 years ago

Note that if the immediate problem has been solved, rospy.sleep() can't be used. It may be the manifestation of a bigger problem of synchronization between ros and webots (don't forget to write : <param name="use_sim_time" value="true" type="bool" /> in your launch in order to use the same time for ros and webots as specfied on webots: https://cyberbotics.com/doc/guide/using-ros )

But even with that rospy doesn't work. What should be done in order to completely solve the issue?