Face expressions on cer in gazebo

robotology / cer-sim

Official URDF and SDF models of the R1 humanoid robot.

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Face expressions on cer in gazebo #17

Closed vvasco closed 5 years ago

vvasco commented 5 years ago

The new branch feat/face-expressions extends the cer.sdf to include face expressions on the robot in gazebo, by attaching the videoTexture plugin to the head_link_visual of the cer model. The module faceExpressionImage has to be run and /faceExpressionImage/image:o needs to be connected to /SIM_CER_ROBOT::head_link::head_link_visual.

Two issues were encountered:

the sim_cer_head.dae had to be changed (thanks @aerydna), otherwise face expressions were not mapped correctly on the head;
it seems that there is a conflict between the plugins of the cameras and the videoTexture plugin, as they open the same port /SIM_CER_ROBOT::head_link::head_link_visual. For this reason, I created a new model without the cameras.

cc @aerydna @fiorisi

aerydna commented 5 years ago

there is a meeting scheduled on May 30th with @fiorisi for integrating the cer head mesh mapping fix i've done in master. for the name conflict can you push the fix line i suggested yesterday @vvasco? does it worked?

vvasco commented 5 years ago

hi @aerydna, actually it did not work: with the fix line, the name parameter is used, but still two ports with the same name are opened.

aerydna commented 5 years ago

ok i'll check it out asap

fiorisi commented 5 years ago

cc @miggia

vvasco commented 5 years ago

Hi @aerydna @fiorisi, what's the status of this issue?

pattacini commented 5 years ago

@aerydna @fiorisi we need to progress on this; it'getting quite important.

fiorisi commented 5 years ago

As discussed with @aerydna, we agreed to simply merge the modification from your branch into the master branch.
Before merging, it would be nice if you can please perform a test. A screenshot of the simulation is enough to validate the fix.

For future modifications, it is important to remember that the models (URDF or SDF) are the product of a generation process, which was implemented in this script (now not working).

vvasco commented 5 years ago

Hi @fiorisi @aerydna, it seems that the second problem mentioned initially is not there anymore (I'm trying to trace back which commit solved this):

it seems that there is a conflict between the plugins of the cameras and the videoTexture plugin, as they open the same port /SIM_CER_ROBOT::head_link::head_link_visual. For this reason, I created a new model without the cameras.

Therefore, I'm doing some modifications in my branch in order to remove the cer_no_cameras model (not needed anymore) and include the video texture in the cer model.

pattacini commented 5 years ago

@vvasco opened up the corresponding PR in #18.