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osrf / drcsim

Repository for the DRC project.
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Imu and Contact sensors stop publishing after simulation is resetted #498

Open osrf-migration opened 8 years ago

osrf-migration commented 8 years ago

Original report (archived issue) by Anonymous.

When atlas is spawned in a world (without controllers, as in and the simulation runs for a few seconds, after a reset is done, the foot contact sensors and imu sensors stop publishing results, until the simulation time exceeds the time at which the simulation was resetted. Other sensors do not show this behavior.

osrf-migration commented 8 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

This may be related to gazebo issue 236. We pushed a fix for the IMU sensor in gazebo 4.1.2. Which version of gazebo are you using?

It could be something different though, perhaps an issue with AtlasPlugin.

osrf-migration commented 8 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

Are you looking at the gazebo topics or ROS topics for sensor updates?

osrf-migration commented 8 years ago

Original comment by Jonathan Vorndamme (Bitbucket: vorndamme).

Hello, now i have a login :). I'm looking at the ros topics, but as far as i can see, there is no gazebo topic diectly publishing the foot contact sensor data. I'm using the debian install for ubuntu 14.04, this is gazebo 4.1.3-1 and drcsim 5.0.0-1. I had a look at the (gazebo sensor class) code, and I think this is because the needsUpdate() function uses lastMeasurementTime to determine whether the sensor needs a new update, which isn't resetted in the Sensor classes reset function.