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ros-aldebaran / romeo_robot

ROS stack for Aldebaran's Romeo robot
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updating URDF for eyes including inertia matrices and orientation #13

Closed nlyubova closed 8 years ago

nlyubova commented 8 years ago

with this commit, Romeo will not explode in Gazebo ! :)

nlyubova commented 8 years ago

@mikaelarguedas do you agree to merge it?

mikaelarguedas commented 8 years ago

This PR is just to add dummy inertia for gazebo purposes, these values are arbitrary and don't have any physical meaning is that right ? The only problem I see is that these values will be overwritten next time we generate the xacro/URDF files. Would you mind adding these to the generation script instead of the generated files ? I created a function which does exactly that in https://github.com/ros-naoqi/naoqi_bridge/blob/master/naoqi_tools/scripts/generate_urdf.py#L209. So adding a add_dummy_inertia call in this if should do the trick.

Thanks!

nlyubova commented 8 years ago

Theses values are from JuanJo (and Gazebo works for him ): after asking him why Romeo does explode in Gazebo he has shared his updated URDF with me :)

By the way, I've found out that all inertia matrices and some masses are slightly different :) How can we update them here ? how to re-generate your values?

mikaelarguedas commented 8 years ago

Yes 1e-9 is the default value people put to basically say "no inertia" (gazebo uses 10 significant digits). You should have strictly the same behaviour in gazebo by using the values added by add_dummy_inertia. To regenerate the URDFs you should have an export_urdf function in alrobotmodel. (I don't have access to naoqi libs so I don't have the exact function call). You can then run rosrun naoqi_tools generate_urdf.py -x xacro -i <PATH_OF_THE_URDF_FROM_ALROBOTMODEL> For more details you can refer to the README

nlyubova commented 8 years ago

cool, then how can we update ALROBOTMODEL ? :)) since many values are not correct, even mass

mikaelarguedas commented 8 years ago

I think we should first make sure that alrobotmodel is not up to date (maybe the library has been updated but the URDFs not generated in a while). BTW I think the export_urdf executable will be in almodelutils and not alrobotmodel as I said earlier.

Can you verify that alrobotmodel is outdated ? if it is, we should ask motion if they can update it with the newest values because this impacts much more than URDFs (Choregraphe etc).

mikaelarguedas commented 8 years ago

I think we can merge it as is for now and update the export tools once it has been updated upstream in Aldeb libs.

+1