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squirrel-project / squirrel_robotino

This repository holds packages for hardware launch files and configuration, as well as the simulation model for starting up the basic layer for operating Robotino
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removed soft limits in tuw robotino. tested. working #190

Closed Senka2112 closed 7 years ago

ipa-nhg commented 7 years ago

@Senka2112 please solve the merge conflict

ipa-nhg commented 7 years ago

@Senka2112 the robotino.urdf. is not the robot description of the robot, the robotino.urdf is an auto-generated file only use to start the moveit setup tool. But you are still loading a robot_description with softlimits see https://github.com/Senka2112/squirrel_robotino/blob/b326baa3f9a6f41627573d646753f17f3440f589/robotino_bringup/robots/tuw-robotino2/launch/tuw-robotino2.launch#L13 .

The robot model is a xacro where you include the description of each component from robotino_description. If you want to deactivate the safety controller you have to modify squirrel_common like here https://github.com/squirrel-project/squirrel_common/pull/187/files

Senka2112 commented 7 years ago

yes we also modified the common as well (we did that change just in case) I think I made a pull request. I will check now

On Thu, Mar 23, 2017 at 7:15 PM, Nadia Hammoudeh García < notifications@github.com> wrote:

@Senka2112 https://github.com/Senka2112 the robotino.urdf. is not the robot description of the robot, the robotino.urdf is an auto-generated file only use to start the moveit setup tool. But you are still loading a robot_description with softlimits see https://github.com/Senka2112/ squirrel_robotino/blob/b326baa3f9a6f41627573d646753f1 7f3440f589/robotino_bringup/robots/tuw-robotino2/launch/ tuw-robotino2.launch#L13 .

The robot model is a xacro where you include the description of each component from robotino_description. If you want to deactivate the safety controller you have to modify squirrel_common like here https://github.com/squirrel-project/squirrel_common/pull/187/files

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/squirrel-project/squirrel_robotino/pull/190#issuecomment-288813959, or mute the thread https://github.com/notifications/unsubscribe-auth/AGX6DjbPWVaWqSEhop_wzeQgczzAZ72fks5rorbJgaJpZM4Mm1bU .

-- Senka Krivić

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ipa-nhg commented 7 years ago

Hi Senka there is a merge conflict , I sent you yesterday a pull request to solve the conflict.

@Senka2112 @edith-langer @tpatten This test was for tuw robotino, doesn't it? and for the tuw robotino.urdf.xacro has_8dof is defined to false (https://github.com/squirrel-project/squirrel_robotino/blob/indigo_dev/robotino_bringup/robots/tuw-robotino2/urdf/robotino.urdf.xacro#L14) could you please verify that you didn't change locally the file during the test and with the setup has_8dof=false works? thanks a lot!

edith-langer commented 7 years ago

Hi Nadia, checked the robotino.urdf.xacro file on tuw robotino and it was not changed!

tpatten commented 7 years ago

We had an old thread about this parameter. Michael, did we change this on the robot?

On Fri, 24 Mar 2017 at 09:24, Edith Langer notifications@github.com wrote:

Hi Nadia,

checked the robotino.urdf.xacro file on tuw robotino and it was not changed!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/squirrel-project/squirrel_robotino/pull/190#issuecomment-288961033, or mute the thread https://github.com/notifications/unsubscribe-auth/AIoKH11A4drHjKt-0PgwgQGL7SC0zQIIks5ro32pgaJpZM4Mm1bU .

ipa-nhg commented 7 years ago

Theoretically the right configuration for the robotino.urdf.xacro, is with has_8dof=false and this is what I defined for all the robots. If this parameter is false, you are not loading the base_linkx, base_linky and base_linkz with the URDF (neither with the old version of squirrel_common), and the model haven't got any limit or safety controller or softlimits or any control of the base joints at all. In this case, uibk_robot_driver is free to command the twists of the base.

If at some point, you changed the parameter has_8dof to true then the URDF limited the movements of the base and , of course, the plan trajectories of Moveit!, but from my point of view, this was not the right setup , because the base_links are not actuators with inertias or physicals properties and URDF is not though to manage this kind of joints , big discussions https://github.com/squirrel-project/squirrel_robotino/pull/151#issuecomment-246610064

If you test and everything works with 8dof false, please don't change this parameter any more.

And the modifications on the base.urdf.xacro were not tested https://github.com/squirrel-project/squirrel_common/pull/189/files#diff-d2df2b04ef7402ae417ed798229072e4 I will open an issue for that , we can see after the review if this is needed or not.

ipa-nhg commented 7 years ago

the robotino.urdf should be again auto-generated, but I prefer keep the tested version until the end of next week.