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small-thinking / mnlm

Demo of robotics.
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连接到 http://localhost:8080/vnc.html 后没有出现界面 #25

Closed zhurui1995 closed 5 months ago

zhurui1995 commented 6 months ago

博主你好，我在复现你的工作时，发现把 rros2 launch robot_arm robot_arm_sim.launch.py中的obot_arm.launch.py改为robot_arm_sim.launch.py 可以运行起来，但是进入 http://localhost:8080/vnc.html却出现如下界面： image

我没有外接机械臂。这是虚拟环境，是需要对应的机械臂吗？

yxjiang commented 6 months ago

你可以看看命令行中日志么？看起来像是gazebo没有启动成功。

zhurui1995 commented 5 months ago

是的，看起来是gazebo没有启动成功。 我按您给的命令，报了如下错。主要说robot_arm.launch.py找不到。

root@8957a728c312:~/mnlm/mnlm/robot/robot_arm_ws# ros2 launch robot_arm robot_arm.launch.py
file 'robot_arm.launch.py' was not found in the share directory of package 'robot_arm' which is at '/home/small-thinking/mnlm/mnlm/robot/robot_arm_ws/install/robot_arm/share/robot_arm'

然后在目录/home/small-thinking/mnlm/mnlm/robot/robot_arm_ws/install/robot_arm/share/robot_arm下，发现了这两个.py文件（robot_arm_rviz.launch.py、robot_arm_sim.launch.py） image

我打开了两个终端，并依次运行了以上两个文件，最后得到了想要的结果。（可能只需要运行robot_arm_sim.launch.py就可以？）

image

zhurui1995 commented 5 months ago

然后我遇到一个新的问题，指令能传到仿真端，但仿真环境的机器臂没有进行相应的动作。这个问题我应该从哪方面入手进行解决呢？

image image

zhurui1995 commented 5 months ago

bow or bend 命令

image

zhurui1995 commented 5 months ago

Solved! 最后需要把仿真开关打开即开。 image

yxjiang commented 5 months ago

谢谢你提供详情。看起来我的无用代码没有清理干净。rviz.launch现在是没有用的。

joker1499 commented 5 months ago

bow or bend 命令

我也遇到了相同的问题，给出bow or bend 指令执行不了(机械臂不会动 且回复移动不了) 这个情况该如何解决呢？

joker1499 commented 5 months ago

(execute L149): Error executing robot arm operations: Failed to execute operations: (utils.py:63) 该改什么地方

yxjiang commented 5 months ago

(execute L149): Error executing robot arm operations: Failed to execute operations: (utils.py:63) 该改什么地方

跟随指令具有一定的随机性。你看看后台日志它识别的指令是什么。

joker1499 commented 5 months ago

(execute L149): Error executing robot arm operations: Failed to execute operations: (utils.py:63) 该改什么地方

跟随指令具有一定的随机性。你看看后台日志它识别的指令是什么。

2024-03-24 11:58:59,467 INFO main (_embed_instructions L80): Embedding instructions... (utils.py:53) 2024-03-24 11:59:00,489 INFO main (execute L145): Robot arm command: {"instruction": "shake the body", "operations": [{"operation": "move_all_servos", "parameters": {"angles": [45, 60, 60, 30, 0, 0, 0], "time": 500}}, {"operation": "move_all_servos", "parameters": {"angles": [0, 30, 30, 0, 0, 0, 0], "time": 500}}, {"operation": "move_all_servos", "parameters": {"angles": [135, 60, 60, 30, 0, 0, 0], "time": 500}}, {"operation": "move_all_servos", "parameters": {"angles": [0, 0, 0, 0, 0, 0, 0], "time": 500}}]}. (utils.py:53) 2024-03-24 11:59:01,001 ERROR main (execute L149): Error executing robot arm operations: Failed to execute operations: (utils.py:63) 我又试了试 执行的应该是shake the body， 但是机械臂不能成功执行，我也碰到了机械收到了指令但不执行类似的问题

yxjiang commented 5 months ago

(execute L149): Error executing robot arm operations: Failed to execute operations: (utils.py:63) 该改什么地方

跟随指令具有一定的随机性。你看看后台日志它识别的指令是什么。

2024-03-24 11:58:59,467 INFO main (_embed_instructions L80): Embedding instructions... (utils.py:53) 2024-03-24 11:59:00,489 INFO main (execute L145): Robot arm command: {"instruction": "shake the body", "operations": [{"operation": "move_all_servos", "parameters": {"angles": [45, 60, 60, 30, 0, 0, 0], "time": 500}}, {"operation": "move_all_servos", "parameters": {"angles": [0, 30, 30, 0, 0, 0, 0], "time": 500}}, {"operation": "move_all_servos", "parameters": {"angles": [135, 60, 60, 30, 0, 0, 0], "time": 500}}, {"operation": "move_all_servos", "parameters": {"angles": [0, 0, 0, 0, 0, 0, 0], "time": 500}}]}. (utils.py:53) 2024-03-24 11:59:01,001 ERROR main (execute L149): Error executing robot arm operations: Failed to execute operations: (utils.py:63) 我又试了试 执行的应该是shake the body， 但是机械臂不能成功执行，我也碰到了机械收到了指令但不执行类似的问题

你是指你说的"bow or bend"但是被识别成了"shake the body"么？如果是这样那是语音识别的问题。

如果是指令对了但是没有执行，那是可能因为前面的动作还没执行完毕。