search

ros-naoqi / nao_robot

BSD 3-Clause "New" or "Revised" License
53 stars 60 forks source link

Added camera and sonar sensor to gazebo urdf #14

Closed ferherranz closed 8 years ago

vrabaud commented 9 years ago

@keulYSMB , any feedback ? I know the cameras are in here: https://github.com/ros-naoqi/nao_robot/blob/master/nao_description/urdf/naoV40_generated_urdf/nao_sensors.xacro#L174 but that does not include the whole parametrization.

mikaelarguedas commented 9 years ago

Makes no sense, the naoGazebo.xacro file is really ol there is no sensor in it. The last I pushed contained cameras and sonar tuned according to measurement on the real robot. I'll check that later and keep you updated but I don't think that I have this file outside Aldebaran.

mikaelarguedas commented 9 years ago

It seems that the cameras, the depth camera and the sonar are still in this xacro : https://github.com/ros-nao/nao_robot_to_delete/blob/master/nao_description/urdf/naoV40_generated_urdf/naoGazebo.xacro I don't get why they're not on the one in ros-naoqi organization. The values seem to be the right one. I'll do a pull request shortly after testing.

ferherranz commented 9 years ago

I added the sensors because I followed this tutorial (https://github.com/ros-naoqi/nao_virtual/blob/master/nao_gazebo_plugin/README.rst) but I couldn't get the topics from the sensors.

mikaelarguedas commented 9 years ago

I didn't have time to perform testing yesterday, I'll do it today and keep you updated.

mikaelarguedas commented 9 years ago

I pushed a fix based on what is https://github.com/ros-nao/nao_robot_to_delete/blob/master/nao_description/urdf/naoV40_generated_urdf/naoGazebo.xacro

I launched roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch The sensors are working on my computer, can you give it a try and let me know ?

Thus the robot is not stable we'll have to figure that out

ferherranz commented 9 years ago

Yeap, the sensors are also working on my computer.

I've also noticed that the robot isn't stable...

vrabaud commented 9 years ago

I guess that requires a new release. How about this robot instability ?

mikaelarguedas commented 9 years ago

The robot seems to be oscilating more than before. Especially at the beginning when the robot is spawned. I didn't have time to investigate yet. We should definitely track what is different from the previous more stable version. I'll focus on it as soon as I have time to allocate to this project.

vrabaud commented 8 years ago

All that seems up-to-date upstream now (no changes are shown if I merge your commits), so closing. Very sorry for the delay, but that got fixed 6 months ago.