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ros-naoqi / pepper_virtual

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modify wheels controller type and add gains #4

Closed kochigami closed 7 years ago

kochigami commented 7 years ago

Hi, when I tried roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch with https://github.com/ros-naoqi/pepper_robot/pull/28,

[ERROR] [1475455830.745881723]: Could not find joint 'WheelFL' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1475455830.746165374]: Failed to initialize the controller
[ERROR] [1475455830.746211869]: Initializing controller '/pepper_dcm/Wheels_controller' failed
[ERROR] [WallTime: 1475455831.747561] [0.000000] Failed to load /pepper_dcm/Wheels_controller

appeared, and I modified type: position_controllers/JointTrajectoryController to type: effort_controllers/JointTrajectoryController .

However, after that change,

[ERROR] [1475456337.894138094]: No p gain specified for pid.  Namespace: /pepper_dcm/Wheels_controller/gains/WheelFL
[ WARN] [1475456337.894267999]: Failed to initialize PID gains from ROS parameter server.

appeared. Then, I added gains (from pepper_description/urdf/pepper1.0_generated/pepperGazebo.xacro)

I checked Pepper's wheels move by rosrun rqt_robot_steering rqt_robot_steering rqt_robot_steering rqt_robot_steering . Still pepper's wheels don't move as they should (ex: when sending /cmd_vel 0.2 0 0, pepper rotates clockwise), but I think there is something wrong omni wheels definition. (I'd like to study it next.)

If there is any problem, please let me know.

kochigami commented 7 years ago

Sorry, I forgot to update my local repository...

nlyubova commented 7 years ago

hi, right, for me it does not move like it should neither (slightly towards and clockwise). If we change mu and fdir for each wheel, then it moves differently but never straight :) So please let me know, if you succeed to fix it