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ros-naoqi / nao_virtual

all tools to simulate nao robot
Apache License 2.0
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unused dependencies #17

Open nlyubova opened 8 years ago

nlyubova commented 8 years ago

@mikaelarguedas do you still need these dependencies: roboticsgroup_gazebo_plugins, pal_msgs, and pal_gazebo_plugins? I've just tested Romeo without them and it works well.

mikaelarguedas commented 8 years ago

We used the roboticsgroup plugins to disable links and inertias for mimic joints that were not simulated properly in gazebo. How do the mimic joints behave with romeo when you remove the disable_link xacro macro ? Are the fingers behaving as expected ?

nlyubova commented 8 years ago

hmm I did not check fingers.... In the test, the robot was staying and not falling down that is good and then when we move arms with MoveIt, the robot does it in Gazebo as expected.

How did you check fingers?

nlyubova commented 8 years ago

why do you need pal packages? they are not even in dependencies in CMakeLists and not in package.xml

mikaelarguedas commented 8 years ago

To check the fingers I would try send open/close commad to the end while enabling/disabling the disable link plugins (instantiated here) The pal packages are not needed anymore, it was a dependency of libroboticsgroup plugin but it seems that they don't depend on it anymore

nlyubova commented 8 years ago

Thank you Mikael, I've checked closing/openning fingers, it works when setting joints to a certain value (for both cases with and without libroboticsgroup) but when we grasp an object in MoveIt, fingers in Gazebo do not move (for both cases with and without libroboticsgroup). What is your way to test it?