search

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
3 stars 14 forks source link

Add shell front collision to the real robot robot_description #219

Closed ipa-nhg closed 6 years ago

ipa-nhg commented 6 years ago

Please test and merge together with https://github.com/squirrel-project/squirrel_common/pull/243

@mzillich @lokalmatador @philkark @smhaller This should solve the problem, I added a xacro argument:

mzillich commented 6 years ago

hm, but we still need the robotino base collision checks also for the real robot. so that should not be removed.

ipa-nhg commented 6 years ago

the base collision model was not removed, sorry I didn't display it on the first screenshot but it is still there

ipa-nhg commented 6 years ago

@mzillich, already tested?

mzillich commented 6 years ago

@tpatten is no it

tpatten commented 6 years ago

I will test this tomorrow. Is there anything in particular that I should do, like try to move the arm really close to the shell?

mzillich commented 6 years ago

@tpatten yes, would be good. like UIBK did, i.e. trying to grasp with the hand "pointing forward"

tpatten commented 6 years ago

I can't get the launch to run. There is an error due to the introduction of the "real" argument in robotino.urdf.xacro

Traceback (most recent call last): File "/opt/ros/indigo/share/xacro/xacro.py", line 62, in xacro.main() File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/init.py", line 696, in main eval_self_contained(doc) File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/init.py", line 626, in eval_self_contained eval_all(doc.documentElement, macros, symbols) File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/init.py", line 526, in eval_all (str(name), str(node.tagName))) xacro.XacroException: Invalid parameter "real" while expanding macro "xacro:shell" Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py '/u/vienna/catkin_ws/src/squirrel_robotino/robotino_bringup/robots/tuw-robotino2/urdf/robotino.urdf.xacro'] returned with code [1].

Param xml is The traceback for the exception was written to the log file

ipa-nhg commented 6 years ago

did you also merge squirrel_common?? squirrel-project/squirrel_common#243 (https://github.com/squirrel-project/squirrel_robotino/pull/219#issuecomment-361168155)

tpatten commented 6 years ago

Sorry. I didn't read the comment. The launch file works now.

tpatten commented 6 years ago

I've tested at least 20 different end effector poses (including hand pointing forwards) and no plans generate a collision. But then again, I never saw this before with our robot so I can't verify, only test. At least nothing goes wrong so on my side it looks good :) UIBK definitely allowed the base to move right?

ipa-nhg commented 6 years ago

Thanks for testing! :)