シミュレータで *ri* の gripper を動かすとエラーする

[kwmrmsy]

turtlebotの実機に接続せずシミュレータで動かしていると、 ri のグリッパに指令を送った際に

/opt/ros/indigo/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: cannot find method :angle-vector in (send :dxl-armed-turtlebot* :angle-vector)

というエラーが出ます。 グリッパ以外のアームではエラーは出ず、実機ではグリッパも動いているようなので、サーボモータのコンプライアンス制御まわりでシミュレータではメソッドが見つからないということでしょうか。

1.irteusgl$ load "package://dxl_armed_turtlebot/euslisp/dxl-armed-turtlebot-interface.l"
;; (dxl-armed-turtlebot-init) ;; for initialize
t
2.irteusgl$ dxl-armed-turtlebot-init

3.irteusgl$ send *dxl-armed-turtlebot* :gripper :arm :angle-vector #f(50)
#f(50.0)
4.irteusgl$ send *ri* :angle-vector (send :dxl-armed-turtlebot* :angle-vector) 1000 :gripper-controller
/opt/ros/indigo/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: cannot find method :angle-vector in (send :dxl-armed-turtlebot* :angle-vector)
5.E1-irteusgl$ send *ri* :start-grasp
[ERROR] [1480428280.037438510]: attempted to call service  /arm_j7_controller/set_compliance_slope, but failed 
[ERROR] [1480428280.037981640]: attempted to call service  /arm_j7_controller/set_torque_limit, but failed 
:simulate should be defined in lower class
:simulate should be defined in lower class
/opt/ros/indigo/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: cannot find method :push-angle-vector-simulation in (send-all (gethash ctype controller-table) :push-angle-vector-simulation av tm prev-av)

[k-okada]

:dxl-armed-turtlebot* というオブジェクトは無い気がしますが、*dxl-armed-turtlebot* ?

[verry619]

同様のエラーが出てしまうようです。

 (send *ri* :angle-vector (send *dxl-armed-turtlebot* :angle-vector) 1000 :gripper-controller)
:simulate should be defined in lower class
:simulate should be defined in lower class
/opt/ros/indigo/share/euslisp/jskeus/eus/Linux64/bin/irteusgl 0 error: cannot find method :push-angle-vector-s\
imulation in (send-all (gethash ctype controller-table) :push-angle-vector-simulation av tm prev-av)