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michtesar / pepper_ros

This is a home for working robot Pepper in simulator Gazebo and also in real controlling the robot and reading sensors with RViz visualization
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Fixed various problems with the robot, with the major one being the fingers' simulation bug. #2

Closed gstavrinos closed 5 years ago

gstavrinos commented 5 years ago

These commits also include fixed names for controllers, corrected simulation and real hardware behaviour and more accurate simulation.

It has to be noted that:

  1. The new inertia values are based ONLY on trial and error, and not real-life values.
  2. The disabled links gazebo plugin has been commented out.

Michael (@michtesar), please leave a review if you find any problems or you think that I should make any changes before merging.

michtesar commented 5 years ago

I think we can leave it that way for a while and open another issue to polish this a little. Do you agree? @gstavrinos

gstavrinos commented 5 years ago

Yes Michael, I think this is the correct approach. I have found some other problems and improvements, but I will make some new PRs when I am done.

michtesar commented 5 years ago

Good work @gstavrinos thank you for the pull request! Hopefully, we fix this and be able to use this robot in ROS, when manufacturers decide to not support it.

gstavrinos commented 5 years ago

Thank you too, Michael. I will keep working on this, along with a bug in rViz that I have encountered, and keep you updated!