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lardemua / SmObEx

SmObEx is a package, made for my MSc thesis, that autonomously explores a given space
GNU General Public License v3.0
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Robot stops at poses where it is to stretched #21

Closed joao-pm-santos96 closed 5 years ago

joao-pm-santos96 commented 5 years ago

Already tried giving tighter bound limits

miguelriemoliveira commented 5 years ago

Hi @joao-pm-santos96 ,

did the tightening of the robot's joint limits worked? Did you see the problem again?

joao-pm-santos96 commented 5 years ago

Hello @miguelriemoliveira ,

no it didn't, I happened to me once or twice on tuesday.

joao-pm-santos96 commented 5 years ago 
[ERROR] [1556784559.089881692]: Socket sendBytes failed, rc: -1. Error: 'Connection reset by peer' (errno: 104)
[ERROR] [1556784559.100206879]: Failed to connect to server, rc: -1. Error: 'Transport endpoint is already connected' (errno: 106)
[ERROR] [1556784559.355468608]: Failed to connect to server, rc: -1. Error: 'Transport endpoint is already connected' (errno: 106)
[ERROR] [1556784559.610696564]: Failed to connect to server, rc: -1. Error: 'Transport endpoint is already connected' (errno: 106)
[ERROR] [1556784559.866021131]: Failed to connect to server, rc: -1. Error: 'Transport endpoint is already connected' (errno: 106)
[ERROR] [1556784560.121396369]: Failed to connect to server, rc: -1. Error: 'Transport endpoint is already connected' (errno: 106)
[ERROR] [1556784560.371564861]: Timeout connecting to robot controller.  Send new motion command to retry.
joao-pm-santos96 commented 5 years ago

Just found out something that must be important!!

Let's say that the exploration node is running and the robot stops at one of these points. What I normally do to start again is, using MoveIt!, take it to a safe location ans that works just fine, UNLESS I set true tha option "Use Cartesian Path" in Rviz/MoveIt!. Setting it to true gives the exact same error even before it starts moving. So it must be it...

The question is, nowhere is the code it's used cartesian path... will need to investigate but it's a step forward.

miguelriemoliveira commented 5 years ago

But is it less often than before? If so you can increase the delta just to see what happens...

On Thu, 2 May 2019 at 08:59, João Santos notifications@github.com wrote:

Hello @miguelriemoliveira https://github.com/miguelriemoliveira ,

no it didn't, I happened to me once or twice on tuesday.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/joao-pm-santos96/SmObEx/issues/21#issuecomment-488583253, or mute the thread https://github.com/notifications/unsubscribe-auth/ACWTHVRFK4RCSF3MNZ6HW6TPTKNMZANCNFSM4HJNPEGQ .

joao-pm-santos96 commented 5 years ago

I already did that it's not the problem, please see my previous comment

Just found out something that must be important!!

Let's say that the exploration node is running and the robot stops at one of these points. What I normally do to start again is, using MoveIt!, take it to a safe location ans that works just fine, UNLESS I set true tha option "Use Cartesian Path" in Rviz/MoveIt!. Setting it to true gives the exact same error even before it starts moving. So it must be it...

The question is, nowhere is the code it's used cartesian path... will need to investigate but it's a step forward.

joao-pm-santos96 commented 5 years ago

Seams to be an Elbow singularity

joao-pm-santos96 commented 5 years ago

The working sphere didn't solve it

joao-pm-santos96 commented 5 years ago

Generated IKFAST plugin for the specific robot on commit 056b29efdeca1da2549860e7f70708fedfdf8c6e, using this tutorial. Add to run part of it on Ubuntu 16.04 in a VM, thought... tomorrow will test to see if improves anything

miguelriemoliveira commented 5 years ago

Hope it works. ..

A Dom, 5/05/2019, 20:12, João Santos notifications@github.com escreveu:

Generated IKFAST plugin for the specific robot, using this tutorial https://acutronicrobotics.com/docs/products/robots/mara/moveit2/tutorials/ros/ikfast. Add to run part of it on Ubuntu 16.04 in a VM, thought... tomorrow will test to see if improves anything

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/joao-pm-santos96/SmObEx/issues/21#issuecomment-489454720, or mute the thread https://github.com/notifications/unsubscribe-auth/ACWTHVU2WFZUZ54JNRVXYODPT4WQ7ANCNFSM4HJNPEGQ .

joao-pm-santos96 commented 5 years ago

The OpenRAVE (and includes IKFAST) worked out but it still stops in the same kind of poses... tried to use the most recent version of OpenRAVE in the master branch but doesn't even compile because "error: no matching function for call to ‘min(long unsigned int&, unsigned int&)"... working on it but it's taking a lot of time this issue

joao-pm-santos96 commented 5 years ago

I now have a python script that consistently passes in a problematic point

TP

joao-pm-santos96 commented 5 years ago

The issue seams to be when the elbow wants to change its redundancy, not sure of this just a visual ideia

miguelriemoliveira commented 5 years ago

a photo of the robot when the problem occurs could be helpful.

On Thu, 16 May 2019 at 19:47, João Santos notifications@github.com wrote:

The issue seams to be when the elbow wants to change its redundancy, not sure of this just a visual ideia

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/joao-pm-santos96/SmObEx/issues/21?email_source=notifications&email_token=ACWTHVS2JBJ6ZR2S6GE5HYDPVWT4FA5CNFSM4HJNPEG2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODVSXEAI#issuecomment-493187585, or mute the thread https://github.com/notifications/unsubscribe-auth/ACWTHVWOWKJ6VF54ULMUGTTPVWT4FANCNFSM4HJNPEGQ .

joao-pm-santos96 commented 5 years ago

The /joint_states:

header: 
  seq: 4513
  stamp: 
    secs: 1558098922
    nsecs: 156394777
  frame_id: ''
name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
position: [1.5252118110656738, 1.3908336162567139, 1.3533990681171417, 1.9825726747512817, -2.0937976837158203, 1.3225916624069214]
velocity: []
effort: []
---

The photos:

Photo 17-05-2019, 14 15 44 Photo 17-05-2019, 14 16 02

miguelriemoliveira commented 5 years ago

Hi @joao-pm-santos96 ,

nice to see you are writing you thesis :-).

Please post the joint limits that were being used, as defined by the xacro file?

joao-pm-santos96 commented 5 years ago

Well @miguelriemoliveira I would feel bad if I had to keep you waiting for those the beautiful photos!!

The xacro values are overwritten by joint_limits.yaml which as the following content: 

# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
  joint_1:
    has_velocity_limits: true
    max_velocity: 3.4906
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: deg(-170.0)
    max_position: deg(170.0)
  joint_2:
    has_velocity_limits: true
    max_velocity: 3.4906
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: deg(-90.0)
    max_position: deg(160.0)
  joint_3:
    has_velocity_limits: true
    max_velocity: 4.5378
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: deg(-140.0)
    max_position: deg(170.0)
  joint_4:
    has_velocity_limits: true
    max_velocity: 6.9813
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: deg(-190.0)
    max_position: deg(190.0)
  joint_5:
    has_velocity_limits: true
    max_velocity: 6.9813
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: deg(-140.0)
    max_position: deg(140.0)
  joint_6:
    has_velocity_limits: true
    max_velocity: 12.5663
    has_acceleration_limits: false
    max_acceleration: 0
    min_position: deg(-360.0)
    max_position: deg(360.0)

those values are the ones defined in the Teach Pendant

miguelriemoliveira commented 5 years ago

These are in degrees, the others in radians. Can you check if some joint is outside the limits?

joao-pm-santos96 commented 5 years ago

Yeah sure, so here are the details (WITH THE SIMULATED ROBOT, THAT DOESN'T BREAK):

For this specific "break point" to happen I send the robot from joint_config _1 to joint_config_2

joint_config_1 = [1.4587480809209663, 0.5394274522857214, 0.26626905547001045, 1.2824433152712542, -2.0201723943348675, 0.7763070202157049]

joint_config_2 = [1.5585755451194119, 1.8164244835560899, 1.8969650689330928, 2.3326661009936167, -2.130728868721306, 1.5956517006099813]

and here is a conversions table, as you can see all of the joint_configs are inside the limits.

Screenshot from 2019-05-17 23-53-24

When I run the planner, the trajectory that it wants to execute is:

model_id: "fanuc_xtion"
trajectory: 
  - 
    joint_trajectory: 
      header: 
        seq: 0
        stamp: 
          secs: 0
          nsecs:         0
        frame_id: "base_link"
      joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
      points: 
        - 
          positions: [1.4587008785290905, 0.5393316407620381, 0.26633590350451525, 1.2824243167785123, -2.0201321210515384, 0.7762564489996674]
          velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
          accelerations: [0.061502324862928996, 0.0, 0.0, 0.0, 0.0, 0.0]
          effort: []
          time_from_start: 
            secs: 0
            nsecs:         0
        - 
          positions: [1.4697952664913025, 0.6812217515956995, 0.44750691478856885, 1.399116698122445, -2.032412902581005, 0.8673034199181727]
          velocities: [0.031539752824981185, 0.4033732225018185, 0.5150431852945241, 0.33173969367952866, -0.03491249947777564, 0.258833472203576]
          accelerations: [0.06154845834445071, 0.7871653313261131, 1.005084415581882, 0.6473756097880099, -0.0681302270101038, 0.5051022837900386]
          effort: []
          time_from_start: 
            secs: 0
            nsecs: 600649204
        - 
          positions: [1.4808896544535146, 0.823111862429361, 0.6286779260726225, 1.5158090794663777, -2.0446936841104715, 0.958350390836678]
          velocities: [0.05127444289411261, 0.65576725908269, 0.8373100619694337, 0.5393120254832356, -0.05675754565032773, 0.420787764673768]
          accelerations: [0.06057098267215758, 0.7746640440129215, 0.9891222681737428, 0.6370943789265362, -0.06704822363842153, 0.4970805524955868]
          effort: []
          time_from_start: 
            secs: 0
            nsecs: 849352978
        - 
          positions: [1.491984042415727, 0.9650019732630224, 0.809848937356676, 1.6325014608103103, -2.056974465639938, 1.0493973617551833]
          velocities: [0.0627397116278181, 0.8024006972591957, 1.024537544747556, 0.659905384561826, -0.06944886859439997, 0.5148783979314138]
          accelerations: [0.0539673897990615, 0.6902083238908536, 0.8812858013943546, 0.5676368315241294, -0.059738466519767316, 0.44288764610713033]
          effort: []
          time_from_start: 
            secs: 1
            nsecs:  40833476
        - 
          positions: [1.503078430377939, 1.106892084096684, 0.9910199486407296, 1.749193842154243, -2.0692552471694046, 1.1404443326736886]
          velocities: [0.07166517612200199, 0.9165516671581457, 1.170290103076957, 0.7537847143612353, -0.07932878985507832, 0.5881259271330279]
          accelerations: [0.053125201246229416, 0.6794372721201469, 0.8675328884504966, 0.558778570202634, -0.05880621738088087, 0.43597615924193683]
          effort: []
          time_from_start: 
            secs: 1
            nsecs: 205098940
        - 
          positions: [1.514172818340151, 1.2487821949303455, 1.1721909599247833, 1.8658862234981757, -2.0815360286988707, 1.231491303592194]
          velocities: [0.07138434588782691, 0.9129600284676407, 1.165704154064002, 0.7508309012359973, -0.07901792865529697, 0.5858212716395419]
          accelerations: [-0.056490775986925895, -0.7224808158111573, -0.9224926195686947, -0.5941781733551956, 0.06253169446464278, -0.46359601412568036]
          effort: []
          time_from_start: 
            secs: 1
            nsecs: 351480335
        - 
          positions: [1.5252672063023631, 1.390672305764007, 1.3533619712088367, 1.9825786048421083, -2.093816810228337, 1.3225382745106993]
          velocities: [0.06205740202828698, 0.7936743948232166, 1.0133954501519007, 0.652728753254691, -0.06869359528361979, 0.50927897032193]
          accelerations: [-0.05469842006170196, -0.6995577323793615, -0.8932235029072872, -0.5753259138306549, 0.06054767050447493, -0.4488869036858204]
          effort: []
          time_from_start: 
            secs: 1
            nsecs: 517123294
        - 
          positions: [1.5363615942645754, 1.5325624165976683, 1.5345329824928906, 2.099270986186041, -2.1060975917578038, 1.4135852454292044]
          velocities: [0.050786759328261, 0.6495300988674417, 0.8293462044666245, 0.5341824990203652, -0.05621771097462198, 0.4167855509789917]
          accelerations: [-0.057230727102912, -0.7319443162958731, -0.9345759983399823, -0.6019610864907343, 0.06335077326637695, -0.4696684813917645]
          effort: []
          time_from_start: 
            secs: 1
            nsecs: 711294705
        - 
          positions: [1.5474559822267875, 1.6744525274313298, 1.715703993776944, 2.215963367529974, -2.1183783732872703, 1.5046322163477097]
          velocities: [0.03142537862241897, 0.4019104497618225, 0.5131754581144773, 0.33053668923198687, -0.03478589451326046, 0.257894851278296]
          accelerations: [-0.0610736189439239, -0.7810924397526059, -0.9973303029004082, -0.6423811801185145, 0.06760461000812816, -0.5012054767522853]
          effort: []
          time_from_start: 
            secs: 1
            nsecs: 960963422
        - 
          positions: [1.5585503701889996, 1.8163426382649912, 1.8968750050609977, 2.3326557488739064, -2.130659154816737, 1.595679187266215]
          velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
          accelerations: [-0.06112770301426253, -0.7817841403458086, -0.9982134940913964, -0.6429500442128689, 0.06766447763258075, -0.5016493219464544]
          effort: []
          time_from_start: 
            secs: 2
            nsecs: 563450358
    multi_dof_joint_trajectory: 
      header: 
        seq: 0
        stamp: 
          secs: 0
          nsecs:         0
        frame_id: ''
      joint_names: []
      points: []
trajectory_start: 
  joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "base_link"
    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
    position: [1.4587008785290905, 0.5393316407620381, 0.26633590350451525, 1.2824243167785123, -2.0201321210515384, 0.7762564489996674]
    velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    effort: []
  multi_dof_joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "base_link"
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: False
---

(MUST CHECK IF NOTHING CHANGES WHEN CONNECTED TO THE REAL ROBOT)

joao-pm-santos96 commented 5 years ago

And the possibilites that I can thing of are:

  1. some kind of singularity
  2. some problem when joint 3 want to go from elbow up to elbow down
  3. some problem related with joint2 and joint3 interaction (less likely since there is only one param to set and it's the correct one that is set, because all others create as mismatch between Rviz and reality)
joao-pm-santos96 commented 5 years ago

a fourth possibility is that, when I generated a .dae to generate the IKFAST c++ code I had to run a command that makes all floating points a 4 decimal place number, will that introduce any problem?

like in here: https://acutronicrobotics.com/docs/products/robots/mara/moveit2/tutorials/ros/ikfast#create-collada-file-for-use-with-...

miguelriemoliveira commented 5 years ago

Don't think so ...

On Sat, 18 May 2019 at 00:21, João Santos notifications@github.com wrote:

a fourth possibility is that, when I generated a .dae to generate the IKFAST c++ code I had to run a command that makes all floating points a 4 decimal place number, will that introduce any problem?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/joao-pm-santos96/SmObEx/issues/21?email_source=notifications&email_token=ACWTHVUHFARWAAGJIQ4N373PV44YNA5CNFSM4HJNPEG2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODVWCAZY#issuecomment-493625447, or mute the thread https://github.com/notifications/unsubscribe-auth/ACWTHVXQM6UAEKUQ327TGIDPV44YNANCNFSM4HJNPEGQ .

miguelriemoliveira commented 5 years ago

Thanks for the detailed report. All the points in the trajectory are inside the joint boundaries?

I see many positions there ... we should check all of them are ok ...

On Sat, 18 May 2019 at 00:07, João Santos notifications@github.com wrote:

Yeah sure, so here are the details (WITH THE SIMULATED ROBOT, THAT DOESN'T BREAK):

For this specific "break point" to happen I send the robot from joint_config _1 to joint_config_2

joint_config_1 = [1.4587480809209663, 0.5394274522857214, 0.26626905547001045, 1.2824433152712542, -2.0201723943348675, 0.7763070202157049]

joint_config_2 = [1.5585755451194119, 1.8164244835560899, 1.8969650689330928, 2.3326661009936167, -2.130728868721306, 1.5956517006099813]

and here is a conversions table, as you can see all of the joint_configs are inside the limits.

[image: Screenshot from 2019-05-17 23-53-24] https://user-images.githubusercontent.com/47630528/57960149-27215400-78ff-11e9-9448-6e07a90c74ab.png

When I run the planner, the trajectory that it wants to execute is:

model_id: "fanuc_xtion" trajectory:

joint_trajectory:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: "base_link"
  joint_names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
  points:
    -
      positions: [1.4587008785290905, 0.5393316407620381, 0.26633590350451525, 1.2824243167785123, -2.0201321210515384, 0.7762564489996674]
      velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
      accelerations: [0.061502324862928996, 0.0, 0.0, 0.0, 0.0, 0.0]
      effort: []
      time_from_start:
        secs: 0
        nsecs:         0
    -
      positions: [1.4697952664913025, 0.6812217515956995, 0.44750691478856885, 1.399116698122445, -2.032412902581005, 0.8673034199181727]
      velocities: [0.031539752824981185, 0.4033732225018185, 0.5150431852945241, 0.33173969367952866, -0.03491249947777564, 0.258833472203576]
      accelerations: [0.06154845834445071, 0.7871653313261131, 1.005084415581882, 0.6473756097880099, -0.0681302270101038, 0.5051022837900386]
      effort: []
      time_from_start:
        secs: 0
        nsecs: 600649204
    -
      positions: [1.4808896544535146, 0.823111862429361, 0.6286779260726225, 1.5158090794663777, -2.0446936841104715, 0.958350390836678]
      velocities: [0.05127444289411261, 0.65576725908269, 0.8373100619694337, 0.5393120254832356, -0.05675754565032773, 0.420787764673768]
      accelerations: [0.06057098267215758, 0.7746640440129215, 0.9891222681737428, 0.6370943789265362, -0.06704822363842153, 0.4970805524955868]
      effort: []
      time_from_start:
        secs: 0
        nsecs: 849352978
    -
      positions: [1.491984042415727, 0.9650019732630224, 0.809848937356676, 1.6325014608103103, -2.056974465639938, 1.0493973617551833]
      velocities: [0.0627397116278181, 0.8024006972591957, 1.024537544747556, 0.659905384561826, -0.06944886859439997, 0.5148783979314138]
      accelerations: [0.0539673897990615, 0.6902083238908536, 0.8812858013943546, 0.5676368315241294, -0.059738466519767316, 0.44288764610713033]
      effort: []
      time_from_start:
        secs: 1
        nsecs:  40833476
    -
      positions: [1.503078430377939, 1.106892084096684, 0.9910199486407296, 1.749193842154243, -2.0692552471694046, 1.1404443326736886]
      velocities: [0.07166517612200199, 0.9165516671581457, 1.170290103076957, 0.7537847143612353, -0.07932878985507832, 0.5881259271330279]
      accelerations: [0.053125201246229416, 0.6794372721201469, 0.8675328884504966, 0.558778570202634, -0.05880621738088087, 0.43597615924193683]
      effort: []
      time_from_start:
        secs: 1
        nsecs: 205098940
    -
      positions: [1.514172818340151, 1.2487821949303455, 1.1721909599247833, 1.8658862234981757, -2.0815360286988707, 1.231491303592194]
      velocities: [0.07138434588782691, 0.9129600284676407, 1.165704154064002, 0.7508309012359973, -0.07901792865529697, 0.5858212716395419]
      accelerations: [-0.056490775986925895, -0.7224808158111573, -0.9224926195686947, -0.5941781733551956, 0.06253169446464278, -0.46359601412568036]
      effort: []
      time_from_start:
        secs: 1
        nsecs: 351480335
    -
      positions: [1.5252672063023631, 1.390672305764007, 1.3533619712088367, 1.9825786048421083, -2.093816810228337, 1.3225382745106993]
      velocities: [0.06205740202828698, 0.7936743948232166, 1.0133954501519007, 0.652728753254691, -0.06869359528361979, 0.50927897032193]
      accelerations: [-0.05469842006170196, -0.6995577323793615, -0.8932235029072872, -0.5753259138306549, 0.06054767050447493, -0.4488869036858204]
      effort: []
      time_from_start:
        secs: 1
        nsecs: 517123294
    -
      positions: [1.5363615942645754, 1.5325624165976683, 1.5345329824928906, 2.099270986186041, -2.1060975917578038, 1.4135852454292044]
      velocities: [0.050786759328261, 0.6495300988674417, 0.8293462044666245, 0.5341824990203652, -0.05621771097462198, 0.4167855509789917]
      accelerations: [-0.057230727102912, -0.7319443162958731, -0.9345759983399823, -0.6019610864907343, 0.06335077326637695, -0.4696684813917645]
      effort: []
      time_from_start:
        secs: 1
        nsecs: 711294705
    -
      positions: [1.5474559822267875, 1.6744525274313298, 1.715703993776944, 2.215963367529974, -2.1183783732872703, 1.5046322163477097]
      velocities: [0.03142537862241897, 0.4019104497618225, 0.5131754581144773, 0.33053668923198687, -0.03478589451326046, 0.257894851278296]
      accelerations: [-0.0610736189439239, -0.7810924397526059, -0.9973303029004082, -0.6423811801185145, 0.06760461000812816, -0.5012054767522853]
      effort: []
      time_from_start:
        secs: 1
        nsecs: 960963422
    -
      positions: [1.5585503701889996, 1.8163426382649912, 1.8968750050609977, 2.3326557488739064, -2.130659154816737, 1.595679187266215]
      velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
      accelerations: [-0.06112770301426253, -0.7817841403458086, -0.9982134940913964, -0.6429500442128689, 0.06766447763258075, -0.5016493219464544]
      effort: []
      time_from_start:
        secs: 2
        nsecs: 563450358
multi_dof_joint_trajectory:
  header:
    seq: 0
    stamp:
      secs: 0
      nsecs:         0
    frame_id: ''
  joint_names: []
  points: []

trajectory_start: joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "base_link" name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6] position: [1.4587008785290905, 0.5393316407620381, 0.26633590350451525, 1.2824243167785123, -2.0201321210515384, 0.7762564489996674] velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "base_link" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False

(MUST CHECK IF NOTHING CHANGES WHEN CONNECTED TO THE REAL ROBOT)

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joao-pm-santos96 commented 5 years ago

What if I create a python node that subscribes /joint_states and prints some message if one joint is out of bounds?

joao-pm-santos96 commented 5 years ago

Done the node, seams to always be inside the bounds... Will take on this again next week.

miguelriemoliveira commented 5 years ago

So it is not a problem of joints out of boundaries ... for sure.

...

On Sat, 18 May 2019 at 01:03, João Santos notifications@github.com wrote:

Done the node, seams to always be inside the bounds... Will take on this again next week.

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joao-pm-santos96 commented 5 years ago

Latest version of IKFast (i.e. openrave) does not solve anything...

joao-pm-santos96 commented 5 years ago

Changing the planner does nothing

joao-pm-santos96 commented 5 years ago

Created a 2.4 bounding cube around the robot, it didn't reached as much but problem showed in other different but similar configuration:

Photo 13-06-2019, 11 11 56 Photo 13-06-2019, 11 11 49

miguelriemoliveira commented 5 years ago

So it did not work?

A Qui, 13/06/2019, 11:15, João Santos notifications@github.com escreveu:

Created a 2.4 bounding cube around the robot, it didn't reached as much but problem showed in other different but similar configuration:

[image: Photo 13-06-2019, 11 11 56] https://user-images.githubusercontent.com/47630528/59424764-7f4b5900-8dcc-11e9-95f9-6cc63c2479a0.jpg [image: Photo 13-06-2019, 11 11 49] https://user-images.githubusercontent.com/47630528/59424766-7fe3ef80-8dcc-11e9-8f0b-880ec1bb8e42.jpg

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joao-pm-santos96 commented 5 years ago

No it did not. When can we meet to solve this?

No dia 13/06/2019, às 11:36, Miguel Riem de Oliveira notifications@github.com<mailto:notifications@github.com> escreveu:

So it did not work?

A Qui, 13/06/2019, 11:15, João Santos notifications@github.com<mailto:notifications@github.com> escreveu:

Created a 2.4 bounding cube around the robot, it didn't reached as much but problem showed in other different but similar configuration:

[image: Photo 13-06-2019, 11 11 56] https://user-images.githubusercontent.com/47630528/59424764-7f4b5900-8dcc-11e9-95f9-6cc63c2479a0.jpg [image: Photo 13-06-2019, 11 11 49] https://user-images.githubusercontent.com/47630528/59424766-7fe3ef80-8dcc-11e9-8f0b-880ec1bb8e42.jpg

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joao-pm-santos96 commented 5 years ago

Was recording the bag, limited the movement within a cube of 2.4m of side, centered on the base_link. Same error occurred, like this:

IMG_0229

Tomorrow I'll try to record the bag again

joao-pm-santos96 commented 5 years ago

I think it is fixed. Tested 6 / 7 consecutive times without a single error. The seemingly solution was to add a jointPathConstraint for joint_3. The errors occurred on joint_3 was out of the bounds -68º to 79º, so I bounded it fo -65º to 75º. For now it seams to work perfectly, forcing new paths to reach the same pose, and actually reaching it.

I'll close the issue, if it occurs again, I'll reopen.

miguelriemoliveira commented 5 years ago

That is fantastic news!!! SO now you found out the problem! Great.

One thing I did not understand: the console said it was joint 6 with the error no?

Congratulations!

Miguel

On Sat, 15 Jun 2019 at 14:35, João Santos notifications@github.com wrote:

I think it is fixed. Tested 6 / 7 consecutive times without a single error. The seemingly solution was to add a jointPathConstraint http://docs.ros.org/melodic/api/moveit_msgs/html/msg/JointConstraint.html for joint_3. The errors occurred on joint_3 was out of the bounds -68º to 79º, so I bounded it fo -65º to 75º. For now it seams to work perfectly, forcing new paths to reach the same pose, and actually reaching it.

I'll close the issue, if it occurs again, I'll reopen.

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joao-pm-santos96 commented 5 years ago

Yes it did, but I had the felling that the problem was on the joint_2 joint_3 interaction. So I looked at that value in a couple of "error poses" and it was practically the same. So I tried to bound the planning to be only inside of those values and, at least for now, it was been working