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siemens / ros-sharp

ROS# is a set of open source software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity3D
Apache License 2.0
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after applying the Joint state, all the joints are moving in a wrong way. #406

Closed fanke1213812138 closed 5 months ago

fanke1213812138 commented 2 years ago

I am using the ROS# to simulate PSM of the da Vinci robot. I applied joint_state_subscriber, joint_state_writer. I am sure I can receive the Jointstate from rostopic, but all the joints move in a wrong way. Screenshot from 2021-09-03 17-30-06

MartinBischoff commented 2 years ago

Hi @fanke1213812138 , please check our URDF whether they satisfy the ROS Unity Coordinate System Conventions here.

fanke1213812138 commented 2 years ago

Thank you for your help. I think the Coordinate System is correct, since the axis in Unity is already converted as shown in Hinge Joint etc.. I mean when receiving JointState message, some Joints are just separated from their parent joints, as shown below. Screenshot from 2021-09-06 12-23-02

HelloWorldLTY commented 2 years ago

Thank you for your help. I think the Coordinate System is correct, since the axis in Unity is already converted as shown in Hinge Joint etc.. I mean when receiving JointState message, some Joints are just separated from their parent joints, as shown below. Screenshot from 2021-09-06 12-23-02

Hi, did you try the sample unity program provided by the tutorial? I found that now it cannot work. Thanks a lot!

MartinBischoff commented 5 months ago

outdated / closing due to inactivity