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osrf / drcsim

Repository for the DRC project.
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AtlasSimInteface 2.10.2 #445

Open osrf-migration opened 10 years ago

osrf-migration commented 10 years ago

Original report (archived issue) by Dave Kotfis (Bitbucket: dkotfis).

The installation instructions instruct teams to obtain AtlasSimInterace 2.10.2 from BDI, though BDI has informed us that they intend for all of drcsim to be distributed through OSRF the way that it has been in the past. Is this going to be made available to teams soon?

We've been holding off on upgrading to drcsim 4.0 until there is something more than the placeholder interface that is currently available. However, 4.0 is currently the only version supported on Trusty, which means that this is blocking other upgrades (we would prefer not to build from source).

osrf-migration commented 10 years ago

Original comment by Bill Blank (Bitbucket: BillBlank).

AtlasSimInterface 2.10.2 will be distributed by Boston Dynamics, unlike previous versions. We are actively working on the new distribution which will reflect the changes to the arms and the new “unplugged” battery pack system. Boston Dynamics will be contacting team members shortly to explain how to get the new software. We expect the software to be ready within the next 4 weeks.

osrf-migration commented 10 years ago

Original comment by Dave Kotfis (Bitbucket: dkotfis).

Ok, thanks for clarifying.

We have identified a reasonable solution on our end, so we can wait a few more weeks for 2.10.2.

osrf-migration commented 10 years ago

Original comment by Juan Rojas (Bitbucket: rojas70).

Sorry, I am not very up-to-date with all details, but I just updated ros-hdyro-drcsim to the drcsim-prerelease.

I noted that when running the USER command for the AtlasSimInterface, atlas goes crazy, that is when you run:

rostopic pub --once /atlas/atlas_sim_interface_command atlas_msgs/AtlasSimInterfaceCommand '{behavior: 7}'

Not so for the other commanded behaviors.

I also noted that with this release Atlas will quickly fall to the ground when unpinned. I was able to resolve that by changing the gazebo libatlasV3Plugin.so to libatlasPlugin.so in the atlas_description/urdf/atlas_v3.gazebo file.

This release did fix the pose initialization errors that were a problem with the upgrade.

osrf-migration commented 10 years ago

Original comment by Dave Kotfis (Bitbucket: dkotfis).

The issue that we were concerned with was Atlas falling to the ground and being virtually uncontrollable. Our solution was similar to what you did, Juan, by using the atlas.gazebo rather than atlas_v3.gazebo, which indirectly switches back to using libAtlasPlugin.so.

osrf-migration commented 10 years ago

Original comment by Juan Rojas (Bitbucket: rojas70).

Nonetheless, I have another problem, which is the joint_trajectory action server/client that speak to the low-level joint controller no longer work. I think this has to do to a 'new' implementation of a shim controller to do PID servoing". This may be the culprit. See: https://osrf-migration.github.io/drcsim-gh-pages/#!/osrf/drcsim/pull-request/451/update-shim-controller-to-do-pid-servo/diff.

Not sure about that yet.

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

@rojas70

Do you mean this joint trajectory plugin is not working for you? If so, do you have example ros node that exercises the plugin?

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

@dkotfis

Does the new drcsim 4.2 release fix your issue?

osrf-migration commented 9 years ago

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).