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ros-ukraine / leobot

LeoBot telepresence robot
MIT License
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F#06 cad model #63

Closed abench closed 6 years ago

abench commented 6 years ago

Task of creation first draft version of CAD resolved.

AndriyPt commented 6 years ago

Wrong naming of left and right wheels. They are located on opposite sides :) Left should be right and vice versa image

AndriyPt commented 6 years ago

помилка при запуску симуляції командою roslaunch leobot_launch simulation.launch world_file:=artgallery у логах [ERROR] [1519770208.718927664, 8180.241000000]: This robot has a joint named "head_link_joint" which is not in the gazebo model. [FATAL] [1519770208.718992539, 8180.241000000]: Could not initialize robot simulation interface

AndriyPt commented 6 years ago

Collision model of your robot is not corresponding to visual model image This is actually causing robot to behave abnormally in Gazebo :) (In order to see it you need to uncheck checkbox "Visual Enabled" and leave checked "Collisions Enabled" in RViz)

AndriyPt commented 6 years ago

Starting simulations using command

roslaunch leobot_launch simulation.launch

Getting error

[ERROR] [1520324373.731197196, 0.795000000]: This robot has a joint named "head_link_joint" which is not in the gazebo model.
[FATAL] [1520324373.731287320, 0.795000000]: Could not initialize robot simulation interface

According to this article https://answers.ros.org/question/102276/this-robot-has-a-joint-named-foo-which-is-not-in-the-gazebo-model/ it is because tower_link is missing inertial properties. Please fix it.

AndriyPt commented 6 years ago

Bearing links (blue spheres) are something in the space. Probably they should be between base_link and wheel. image

AndriyPt commented 6 years ago

All red axes (X) should point forward in the robot not backward image