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ros-naoqi / nao_virtual

all tools to simulate nao robot
Apache License 2.0
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Added launcher with empty world and rosinstall file #4

Closed awesomebytes closed 9 years ago

awesomebytes commented 9 years ago

As I tried to use the current Nao in Gazebo (and I finally couldn't) I'm adding:

1) A dummy launch file that launches empty world with the Nao robot. The current launch file tries to load a robocup football field which is not downloaded from the Gazebo models database:

Error [ModelDatabase.cc:408] Unable to download model[model://robocup09_spl_field/materials/scripts/]
Error [SystemPaths.cc:371] File or path does not exist[""]
Error [RenderEngine.cc:409] URI doesn't exist[model://robocup09_spl_field/materials/scripts/]

2) A rosinstall file to get a workspace with everything for Nao as I found it right now. It also includes inside instructions on how to get it to work (until the point I got). Reproducing the instructions here:

# To use this rosinstall
# in your workspace src folder (let's say ~/nao_ws/src) do: 
# wstool init .
# wstool merge <this_file>
# wstool up -j8
# Then make sure you have all dependencies:
# cd <your_workspace>
# rosdep install --from-paths src --ignore-src --rosdistro hydro -y
# Everything went fine? compile! 
# catkin_make
# Before launching you must install the meshes...
# Go to nao_meshes_installer and execute the last version for your platform
# In my case: ./naomeshes-0.6.7-linux-x64-installer.run
# You'll get a window asking you stuff, like where to store it
# You must store it in your workspace (so it extract directly inside of 
# nao_meshes directory. So you'll get nao_meshes/mesh/V40 directory structure)

For the sake of completeness I'll explain where I got. I got the robot model to load in Gazebo, but there is some error with the hands (which I'll reproduce after this paragraph). Also no controllers could initialize.

[ERROR] [1417694352.858359842]: This robot has a joint named "LHand" which is not in the gazebo model.
[FATAL] [1417694352.858470531]: Could not initialize robot simulation interface
[ERROR] [1417694352.860687169]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.860785452]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.860859614]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.860933605]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861005688]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861077975]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861149026]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861219481]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861290216]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861358217]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861428645]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861496914]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861567763]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861640345]: No joint named LHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861708811]: No joint named RHand. MimicJointPlugin could not be loaded.
[ERROR] [1417694352.861780051]: No joint named RHand. MimicJointPlugin could not be loaded.
[ WARN] [1417694352.863029445]: Link LFinger11 not found!
[ WARN] [1417694352.863214805]: Link LFinger12 not found!
[ WARN] [1417694352.863297080]: Link LFinger13 not found!
[ WARN] [1417694352.863367741]: Link LFinger21 not found!
[ WARN] [1417694352.863442127]: Link LFinger22 not found!
[ WARN] [1417694352.863513551]: Link LFinger23 not found!
[ WARN] [1417694352.863584133]: Link LThumb1 not found!
[ WARN] [1417694352.863654355]: Link LThumb2 not found!
[ WARN] [1417694352.863725743]: Link l_gripper not found!
[ WARN] [1417694352.863792708]: Link RFinger11 not found!
[ WARN] [1417694352.863863459]: Link RFinger12 not found!
[ WARN] [1417694352.863931413]: Link RFinger13 not found!
[ WARN] [1417694352.864002495]: Link RFinger21 not found!
[ WARN] [1417694352.864073632]: Link RFinger22 not found!
[ WARN] [1417694352.864144669]: Link RFinger23 not found!
[ WARN] [1417694352.864218942]: Link RThumb1 not found!
[ WARN] [1417694352.864290568]: Link RThumb2 not found!
[ WARN] [1417694352.864361212]: Link r_gripper not found!

This maybe should go into the SIG google groups, thought of it after writing it, sorry!

awesomebytes commented 9 years ago

Posted a reference to this in the SIG: https://groups.google.com/d/msg/ros-sig-aldebaran/uo0EpDDLX2I/scfmb-PGGhgJ

mikaelarguedas commented 9 years ago

Looks good to me, thanks for the contribution!