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justagist / panda_robot

A ROS python interface for using the franka robot (requires franka_ros_interface). Simplified control and management API.
https://justagist.github.io/panda_robot
Apache License 2.0
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AttributeError: 'PandaArm' object has no attribute 'set_EE_frame_to_link' #10

Closed Sission closed 3 years ago

Sission commented 3 years ago

I am using Panda_robot v0.6.0; Panda_simulator melodic; franka_ros_interface v0.6.0 libfranka 0.7.0 franka_ros 0.6.0

when I do

python # start interactive python session; make sure the correct ros workspace is sourced. import rospy from panda_robot import PandaArm rospy.init_node("panda_demo") # initialise ros node

r = PandaArm() # create PandaArm instance

It shows the error:

r = PandaArm() [INFO] [1618014242.316671, 112.310000]: Robot control running in Simulation Mode! [INFO] [1618014242.464641, 112.417000]: Waiting for collision behaviour services... [INFO] [1618014243.702680, 113.336000]: PandaArm: Collision Service Not found. It will not be possible to change collision behaviour of robot! [INFO] [1618014243.740938, 113.366000]: FrankaControllerManagerInterface: cannot detect controller name under param /controllers_config/trajectory_controller [INFO] [1618014243.756567, 113.376000]: FrankaControllerManagerInterface: cannot detect controller name under param /controllers_config/impedance_controller [INFO] [1618014243.882530, 113.479000]: PandaArm: MoveGroup was not found! This is okay if moveit service is not required! [INFO] [1618014243.985199, 113.552000]: GripperInterface: Waiting for gripper action servers... [INFO] [1618014243.998065, 113.557000]: GripperInterface: Gripper action servers found! Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_1']/actuator[@name='panda_motor_1'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_2']/actuator[@name='panda_motor_2'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_3']/actuator[@name='panda_motor_3'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_4']/actuator[@name='panda_motor_4'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_5']/actuator[@name='panda_motor_5'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_6']/actuator[@name='panda_motor_6'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_tran_7']/actuator[@name='panda_motor_7'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_leftfinger']/actuator[@name='panda_finger_joint1'] Unknown tag "hardwareInterface" in /robot[@name='panda']/transmission[@name='panda_rightfinger']/actuator[@name='panda_finger_joint2'] Traceback (most recent call last): File "", line 1, in File "/home/sission/proj_ws/src/panda_robot/src/panda_robot/panda_robot.py", line 107, in init self.set_EE_frame_to_link('panda_hand' if self.has_gripper else 'panda_link8') AttributeError: 'PandaArm' object has no attribute 'set_EE_frame_to_link'

Sission commented 3 years ago

I believe it can be fixed by modifying line 107 to: self.reset_EE_frame()

justagist commented 3 years ago

This issue should be fixed now hopefully with the latest changes in justagist/franka_ros_interface@4b074d74311ad2af240a521ccc3ccbbb5f59e350. Please pull the latest version of franka_ros_interface (branch v0.6.0-dev). Let me know if you face any further issues.

Also please note that updates and issues resolutions for v0.6.0 of panda_robot and franka_ros_interface will be slower and I may not be able to provide support immediately. Pull requests are most welcome!

Sission commented 3 years ago

Thanks for the update! I will try 0.7.1

On Mon, Apr 12, 2021 at 4:34 AM Saif Sidhik @.***> wrote:

This issue should be fixed now hopefully with the latest changes in @.*** https://github.com/justagist/franka_ros_interface/commit/4b074d74311ad2af240a521ccc3ccbbb5f59e350. Please pull the latest version of franka_ros_interface (branch v0.6.0-dev). Let me know if you face any further issues.

Also please note that updates and issues resolutions for v0.6.0 of panda_robot and franka_ros_interface will be slower and I may not be able to provide support immediately. Pull requests are most welcome!

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/justagist/panda_robot/issues/10#issuecomment-817607612, or unsubscribe https://github.com/notifications/unsubscribe-auth/AKIZ3DAHKKRUHOESMQCCPIDTIKWAHANCNFSM42V4SVEQ .