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ros-naoqi / nao_virtual

all tools to simulate nao robot
Apache License 2.0
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NAO robot falls down completely after pressing the start button in Gazebo #20

Open Amir-Ramezani opened 7 years ago

Amir-Ramezani commented 7 years ago

Hi,

I tried to do simulate NAO in ROS Jade with Gazebo 5, however, every time I run Gazebo and play start button, the NAO robot falls down. Exactly similar to the problem in this clip https://drive.google.com/file/d/0B4bNDF3keBFibXpnRkt0V3JDNzA/view.

Could you help me to fix this issue?

Thanks

mikaelarguedas commented 7 years ago

It looks like the controllers are not found. (Warning in the terminal "Controller spawner couldn't find the expected controller manager ROS interface") You will need to make sure that you have all the ros controller packages installed:

Note: nao_gazebo_plugin is not officially supported in Jade and Kinetic yet, updates in that matter will be posted here

Amir-Ramezani commented 7 years ago

Thanks for reply,

I installed ros-jade-gazebo-ros-control. the previous problem solved but now I have another problem NAO is like a balloon: https://drive.google.com/file/d/0Bwsg0i6pm8bSVmFzZTJocHhsWWc/view?usp=sharing

Before this, I tried to use it with ROS Indigo and Gazebo 2.2 but NAO was stiff and shaking, so some place I read it is because of Gazebo version so I shift to Jade in order to have Gazebo 5 and as a result NAO.

and this is the output of Gazebo:

auto-starting new master process[master]: started with pid [10191] ROS_MASTER_URI=http://localhost:11311

setting /run_id to a9b3b122-cdd7-11e6-bf67-208984233fa5 process[rosout-1]: started with pid [10204] started core service [/rosout] process[gazebo-2]: started with pid [10207] process[gazebo_gui-3]: started with pid [10211] process[nao_trajectory_controller-4]: started with pid [10215] process[spawn_urdf-5]: started with pid [10216] [INFO] [WallTime: 1483023684.905720] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1483023688.474183389]: Finished loading Gazebo ROS API Plugin. [ INFO] [1483023688.474775118]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1483023692.065886200]: Camera Plugin (robotNamespace = /nao_robot), Info: Using the 'robotNamespace' param: '/nao_robot' [ WARN] [1483023692.066021386]: gazebo_roscamera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong. [ INFO] [1483023692.070048090]: Camera Plugin (robotNamespace = nao_robot), Info: Using the 'robotNamespace' param: 'nao_robot' [ WARN] [1483023692.070140058]: gazebo_roscamera simulation does not support non-zero distortion parameters right now, your simulation maybe wrong. [ INFO] [1483023692.137750681]: Camera Plugin (ns = /nao_robot) , set to "/nao_robot" [ INFO] [1483023692.169890508]: Camera Plugin (ns = nao_robot) , set to "nao_robot" [ INFO] [1483023692.592990352]: Loading gazebo_ros_control plugin [ INFO] [1483023692.593150679]: Starting gazebo_ros_control plugin in namespace: [ INFO] [1483023692.597493771]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server. [spawn_urdf-5] process has finished cleanly log file: /home/learning/.ros/log/a9b3b122-cdd7-11e6-bf67-208984233fa5/spawn_urdf-5*.log [ INFO] [1483023693.091433756]: Loaded gazebo_ros_control. [INFO] [WallTime: 1483023693.349474] [0.000000] Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [WallTime: 1483023693.350860] [0.000000] Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [WallTime: 1483023693.352179] [0.000000] Loading controller: /nao_dcm/Head_controller [INFO] [WallTime: 1483023693.524367] [0.000000] Loading controller: /nao_dcm/RightArm_controller [INFO] [WallTime: 1483023693.558296] [0.000000] Loading controller: /nao_dcm/LeftArm_controller [INFO] [WallTime: 1483023693.591876] [0.000000] Loading controller: /nao_dcm/LeftLeg_controller [INFO] [WallTime: 1483023693.630984] [0.000000] Loading controller: /nao_dcm/RightLeg_controller [INFO] [WallTime: 1483023693.661944] [0.000000] Loading controller: /nao_dcm/RightHand_controller [INFO] [WallTime: 1483023693.691625] [0.000000] Loading controller: /nao_dcm/LeftHand_controller [INFO] [WallTime: 1483023693.720608] [0.000000] Loading controller: /nao_dcm/Pelvis_controller [INFO] [WallTime: 1483023693.750945] [0.000000] Loading controller: /nao_dcm/LeftFoot_controller [INFO] [WallTime: 1483023693.781907] [0.000000] Loading controller: /nao_dcm/RightFoot_controller [INFO] [WallTime: 1483023693.812223] [0.000000] Loading controller: /nao_dcm/joint_state_controller [INFO] [WallTime: 1483023693.885113] [0.000000] Controller Spawner: Loaded controllers: /nao_dcm/Head_controller, /nao_dcm/RightArm_controller, /nao_dcm/LeftArm_controller, /nao_dcm/LeftLeg_controller, /nao_dcm/RightLeg_controller, /nao_dcm/RightHand_controller, /nao_dcm/LeftHand_controller, /nao_dcm/Pelvis_controller, /nao_dcm/LeftFoot_controller, /nao_dcm/RightFoot_controller, /nao_dcm/joint_state_controller [INFO] [WallTime: 1483023705.551387] [89.405000] Started controllers: /nao_dcm/Head_controller, /nao_dcm/RightArm_controller, /nao_dcm/LeftArm_controller, /nao_dcm/LeftLeg_controller, /nao_dcm/RightLeg_controller, /nao_dcm/RightHand_controller, /nao_dcm/LeftHand_controller, /nao_dcm/Pelvis_controller, /nao_dcm/LeftFoot_controller, /nao_dcm/RightFoot_controller, /nao_dcm/joint_state_controller [ INFO] [1483023705.574040418, 89.426000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1483023705.605881224, 89.453000000]: Physics dynamic reconfigure ready. [ WARN] [1483024027.562394897, 88.785000000]: Dropping first 1 trajectory point(s) out of 20, as they occur before the current time. First valid point will be reached in 0.325s.

mikaelarguedas commented 7 years ago

Hi @AmirCognitive, This is a known problem and has been one of the blockers for releasing this package in Jade and Kinetic so far. I didn't have much time to look into yet. The main reason is that roboticsgroup_gazebo_plugins doesn't compile on Jade and Kinetic and so the inertia of the fingers is taken into account and changing significantly the dynamic of the model. It may not be the only issue rising given that Gazebo 5 and 7 received significant improvements of the physics.