Open ghost opened 4 years ago
arntanguy
commented
4 years ago clear-omninames.sh script before running choreonoid-DBUILD_CORBA_PLUGIN=ON -DENABLE_CORBA=ON/usr/local/share/hrpsys/samples/your_robot/ folder?
ghost
commented
4 years ago The answer to all questions is "Yes". There are many variables in the files of cnoid folder. Is it possible than one or more of those variables are not set correctly and this is why we can't run it?
Thank You
ghost
commented
4 years ago I was able to fix that problem. I am now getting some other errors. The robot in choreonoid still falls down. But I can see foot points and other panels in rviz. I wanted to share the errors with you, maybe you could help us. Choreonoid shows following lines in message panel:
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPoseSeqPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPythonSimScriptPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidCorbaPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPythonPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidOpenRTMPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidBodyPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidBalancerPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidOpenHRP3.1Plugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidAssimpPlugin.so"
Body customizer "/usr/local/lib/choreonoid-1.7/customizer/Labo1Customizer.so" for Labo1 has been loaded.
Body-plugin has been activated.
Assimp-plugin has been activated.
SimulationExecutionContext has been registered.
SimulationPeriodicExecutionContext has been registered.
ChoreonoidExecutionContext has been registered.
ChoreonoidPeriodicExecutionContext has been registered.
OpenRTM-plugin has been activated.
PoseSeq-plugin has been activated.
Python-plugin has been activated.
PythonSimScript-plugin has been activated.
Balancer-plugin has been activated.
Corba-plugin has been activated.
OpenHRP3.1-plugin has been activated.
Loading project file "sim_mc.cnoid" ...
Task sequencer '' has been deactivated.
OpenGL version is 3.0.
GLSL version is 1.30.
PythonPlugin: "/usr/local/lib/python2.7/dist-packages/hrpsys" has been added to the Python module search path list.
Restoring ExtCommandItem "ModelLoader"
External command "openhrp-model-loader" has been executed by item "ModelLoader".
Restoring WorldItem "World"
ready
Restoring BodyItem "sm_r_v1"
Loading Body "/usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl"
-> ok!
Restoring BodyRTCItem "BodyRTC"
Config File "/usr/local/lib/choreonoid-1.7/rtc/Virtual-sm_r_v1-RTC.conf" has been loaded.
RTC "PDcontroller" has been created from "/usr/local/lib/choreonoid-1.7/rtc/PDcontroller.so".
RTC "sm_r_v1Controller(Robot)0" has been created.
Restoring SensorVisualizer "SensorVisualizer"
loading file:////usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
Humanoid node
Joint node base_link
AccelerationSensorgsensor
Gyrogyrometer
Segment node base_link
Joint node L1
Segment node L_Hip_1
Joint node L2
Segment node L_Hip_2
Joint node L3
Segment node L_Hip_3
Joint node L4
Segment node L_Knee
Joint node L5
Segment node L_Ankle_1
Joint node L6
Segment node L_Ankle_2
ForceSensorflsensor
Joint node R1
Segment node R_Hip_1
Joint node R2
Segment node R_Hip_2
Joint node R3
Segment node R_Hip_3
Joint node R4
Segment node R_Knee
Joint node R5
Segment node R_Ankle_1
Joint node R6
Segment node R_Ankle_2
ForceSensorfrsensor
The model was successfully loaded !
Restoring BodyItem "longfloor"
Loading Body "/usr/local/share/OpenHRP-3.1/sample/model/longfloor.wrl"
-> ok!
Restoring AISTSimulatorItem "AISTSimulator"
Restoring PythonSimScriptItem "sim_mc.py"
Loading Python Script for Simulation "/usr/local/share/hrpsys/samples/sm_r_v1/sim_mc.py"
-> ok!
8 / 8 item(s) have been loaded.
Project "sim_mc.cnoid" has been completely loaded.
setup RT components
detected the ExecutionContext
connect sm_r_v1Controller(Robot)0:q --> PDcontroller0:angle
Connection was successful.
connect sm_r_v1Controller(Robot)0:tau <-- PDcontroller0:torque
Connection was successful.
Simulation by AISTSimulator has started.
Execution of Python script "sim_mc.py" has been started.
[rtm.py] nshost already set as localhost
[rtm.py] nsport already set as 2809
[rtm.py] Failed to parse corba.master_manager, use 2810
[rtm.py] configuration ORB with localhost:2809
[rtm.py] configuration RTCManager with localhost:2810
[rtm.py] trying to findRTCManager on port2810
creating components
[rtm.py] trying to findRTCManager on port2810
loading file:///usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
Humanoid node
Joint node base_link
AccelerationSensorgsensor
Gyrogyrometer
Segment node base_link
Joint node L1
Segment node L_Hip_1
Joint node L2
Segment node L_Hip_2
Joint node L3
Segment node L_Hip_3
Joint node L4
Segment node L_Knee
Joint node L5
Segment node L_Ankle_1
Joint node L6
Segment node L_Ankle_2
ForceSensorflsensor
Joint node R1
Segment node R_Hip_1
Joint node R2
Segment node R_Hip_2
Joint node R3
Segment node R_Hip_3
Joint node R4
Segment node R_Knee
Joint node R5
Segment node R_Ankle_1
Joint node R6
Segment node R_Ankle_2
ForceSensorfrsensor
The model was successfully loaded !
cache found for file:///usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
connecting components
[rtm.py] Connect sm_r_v1Controller(Robot)0.q - StateHolder0.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sm_r_v1Controller(Robot)0.gyrometer - KalmanFilter0.rate (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sm_r_v1Controller(Robot)0.gsensor - KalmanFilter0.acc (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect StateHolder0.qOut - PDcontroller0.angleRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
activating components
initialized successfully
[rtm.py] Connect sm_r_v1Controller(Robot)0.q - MCControl0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sm_r_v1Controller(Robot)0.gyrometer - MCControl0.rateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sm_r_v1Controller(Robot)0.gsensor - MCControl0.accIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sm_r_v1Controller(Robot)0.frsensor - MCControl0.RightFootForceSensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect sm_r_v1Controller(Robot)0.flsensor - MCControl0.LeftFootForceSensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect StateHolder0.basePosOut - MCControl0.pIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Connect KalmanFilter0.rpy - MCControl0.rpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py] Failed to connect sm_r_v1Controller(Robot)0.waistAbsTransform to None([None])
[rtm.py] Failed to connect sm_r_v1Controller(Robot)0.waistAbsVelocity to None([None])
[rtm.py] Failed to connect sm_r_v1Controller(Robot)0.waistAbsAcceleration to None([None])
[rtm.py] Connect MCControl0.qOut - StateHolder0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
The execution of Python script "sim_mc.py" has been finished.Terminal Shows following lines after the choreonoid --start-simulation sim_mc.cnoid command:
PDcontroller0: onInitialize()
PDcontroller0: on Activated
[PDcontroller0] Gain file [PDgains_sim.dat] opened
[PDcontroller0] tlimit_ratio is set to 1,1,1,1,1,1,1,1,1,1,1,1
[PDcontroller0] loadGain
[PDcontroller0] L1, pgain = 5000, dgain = 30
[PDcontroller0] L2, pgain = 5000, dgain = 30
[PDcontroller0] L3, pgain = 5000, dgain = 30
[PDcontroller0] L4, pgain = 6000, dgain = 50
[PDcontroller0] L5, pgain = 3000, dgain = 20
[PDcontroller0] L6, pgain = 3000, dgain = 20
[PDcontroller0] R1, pgain = 5000, dgain = 30
[PDcontroller0] R2, pgain = 5000, dgain = 30
[PDcontroller0] R3, pgain = 5000, dgain = 30
[PDcontroller0] R4, pgain = 6000, dgain = 50
[PDcontroller0] R5, pgain = 3000, dgain = 20
[PDcontroller0] R6, pgain = 3000, dgain = 20
[KalmanFilter0] onInitialize()
[KalmanFilter0] Q_angle=0.001, Q_rate=0.003, R_angle=1000
[StateHolder0] onInitialize()
StateHolder: dt = 0.005
[DataLogger0] onInitialize()
Loading default global configuration /usr/local/etc/mc_rtc.yaml
Loading additional global configuration "/home/saeed/.config/mc_rtc/mc_rtc.conf"
Enabled plugins: ROS (autoload)
GUI server enabled
Will serve data on:
- ipc:///tmp/mc_rtc_pub.ipc
- tcp://*:4242
Will handle requests on:
- ipc:///tmp/mc_rtc_rep.ipc
- tcp://*:4343
Loading additional plugin configuration: "/usr/local/lib/mc_plugins/etc/ROS.yaml"
Loading additional controller configuration: "/usr/local/lib/mc_controller/etc/LIPMWalking.conf"
Loading additional controller configuration: "/home/saeed/.config/mc_rtc/controllers/LIPMWalking.conf"
Create controller LIPMWalking
MCController(base) ready
Robots loaded in FSM controller:
- sm_r_v1
- ground
Added task FSM_posture_sm_r_v1
Initialized new ModelPredictiveControl solver
Loaded footstep plan "custom_forward"
LIPMWalking controller init done 0x7fc69c0f7980
Create controller HalfSitPose
MCController(base) ready
Added task posture_sm_r_v1
MCHalfSitPoseController init done 0x7fc69c148b20
MCControl::onInitialize() starting
MCControl::onInitialize() finished
[KalmanFilter0] onActivated(1000)
onActivated
Init controller
Will log controller outputs to "/tmp/mc-control-LIPMWalking-2020-02-03-17-33-06.bin"
Updated latest log symlink: "/tmp/mc-control-LIPMWalking-latest.bin"
Added task FSM_body6d_sm_r_v1_base_link
Observers: -> Encoder (position=estimator,velocity=estimator)
[mc_rtc::ROS] Starting ROS services
Starting state Initial
Removed task FSM_body6d_sm_r_v1_base_link
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
And the terminal which starts RVIZ shows following lines:
..``` . logging to /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/roslaunch-hmr-ThinkPad-P1-12992.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hmr-ThinkPad-P1:42377/
PARAMETERS
NODES / rviz (rviz/rviz)
auto-starting new master process[master]: started with pid [13002] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 445020c0-46ee-11ea-ac67-3c6aa7374b96 process[rosout-1]: started with pid [13015] started core service [/rosout] process[rviz-2]: started with pid [13024] [ INFO] [1580779975.720416466]: rviz version 1.12.17 [ INFO] [1580779975.720449197]: compiled against Qt version 5.5.1 [ INFO] [1580779975.720456259]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1580779975.805167163]: Stereo is NOT SUPPORTED [ INFO] [1580779975.805225253]: OpenGl version: 3 (GLSL 1.3). Connected SUB socket to ipc:///tmp/mc_rtc_pub.ipc Connected PUSH socket to ipc:///tmp/mc_rtc_rep.ipc Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/EndEffectorTask.json has unknown or missing type (value: object), treating as string Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/OrientationTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PositionTask.json has unknown or missing type (value: object), treating as string Property posture in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json is an array of array, will not display for now Property jointGains in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknonw or missing array items' type (value: ), treating as string Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/RelativeEndEffectorTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/SurfaceTransformTask.json has unknown or missing type (value: object), treating as string Could not display arrow Markers/Net wrench/Measured_ZMPForce_arrow: invalid value in start coordinates (6.69311e+151 9.08367e+223 1.1471e-259) rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.. logging to /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/roslaunch-hmr-ThinkPad-P1-12992.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://hmr-ThinkPad-P1:42377/
PARAMETERS
NODES / rviz (rviz/rviz)
auto-starting new master process[master]: started with pid [13002] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 445020c0-46ee-11ea-ac67-3c6aa7374b96 process[rosout-1]: started with pid [13015] started core service [/rosout] process[rviz-2]: started with pid [13024] [ INFO] [1580779975.720416466]: rviz version 1.12.17 [ INFO] [1580779975.720449197]: compiled against Qt version 5.5.1 [ INFO] [1580779975.720456259]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1580779975.805167163]: Stereo is NOT SUPPORTED [ INFO] [1580779975.805225253]: OpenGl version: 3 (GLSL 1.3). Connected SUB socket to ipc:///tmp/mc_rtc_pub.ipc Connected PUSH socket to ipc:///tmp/mc_rtc_rep.ipc Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/EndEffectorTask.json has unknown or missing type (value: object), treating as string Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/OrientationTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PositionTask.json has unknown or missing type (value: object), treating as string Property posture in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json is an array of array, will not display for now Property jointGains in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknonw or missing array items' type (value: ), treating as string Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/RelativeEndEffectorTask.json has unknown or missing type (value: object), treating as string Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/SurfaceTransformTask.json has unknown or missing type (value: object), treating as string Could not display arrow Markers/Net wrench/Measured_ZMPForce_arrow: invalid value in start coordinates (6.69311e+151 9.08367e+223 1.1471e-259) rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed. [rviz-2] process has died [pid 13024, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/saeed/repos/3rd_party/lipm/catkin_ws/src/mc_rtc_ros/mc_rtc_ticker/launch/display.rviz name:=rviz log:=/home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2.log]. log file: /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2*.log
[rviz-2] process has died [pid 13024, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/saeed/repos/3rd_party/lipm/catkin_ws/src/mc_rtc_ros/mc_rtc_ticker/launch/display.rviz name:=rviz log:=/home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2.log]. log file: /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2*.log
Sorry for the delay.
Everything looks fine here on choreonoid's side:
mc_openrtm servermc_openrtm client is properly started, and the LIPMWalking controller is executed.Your issue here seems to be:
[mc_rtc::ROS] Starting ROS services
Starting state Initial
Removed task FSM_body6d_sm_r_v1_base_link
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
[...]Since the Initial state does not yet perform force-control (it's just an open-loop posture task), this would most likely indicate that the PD gains you selected for your robot are inadequate and it shakes or diverges.
You could start by running simpler controllers to make sure that the dynamic simulation behaves as expected first. I suggest:
Posture: Run this controller, and check that
CoM: Check that you can move the CoM smoothly (you can move the CoM target with RVIZ interactive markers)If both of those are fine, retry LIPMWalking, it should at least work well until you click on the Start Standing button. This will enable stabilization, and thus force-control. If it starts shaking at that point, you'll need to tune LIPMWalking gains. Please refer to the doxygen documentation page for instructions.
Hi
I am trying to import our robot into LIPM walking package and use it here. So I prepared some files for mc_rtc. myrobot.cpp and myrobot.h files which are getting compiled and have no issues. Also, there are some files needed by mc_openrtm to recognise our robot in choreonoid. I have added some model file and also there are some files in cnoid folder which I tried to made based on our robot. By the way there are so many details on them and I am not sure if I have done all of them correctly. I have attached them here. Maybe you could find any issues in them too.
cnoid.zip
I am running LIPM package and I can see my robot in choreonoid, but it falls down. I resolved all the issues based on what message windows in choreonoid told me and currently I have almost no error. But I don't realise what the problem is. The messages are:
I can only see that at the end we have "Failed to parse corba.master_manager" message. Do you know what might be the reason for it and how to resolve it?
Thank You