using only RTM message for servo on/off in hrpsys_dashbord

[k-okada]

As I remember correctly, servo on/off from hrpsys_dashboard uses ROS message, but sometimes we want to use these fundamental features before ROS bridge has launched, so my proposal here is to use RTM message for these command.

@hyaguchijsk

[k-okada]

Do we have connect button (that lauch all plugin and connect them) in this GUI? http://wiki.ros.org/rtmros_nextage/Tutorials/Monitoring%2C%20operating%20via%20GUI

[k-okada]

if you want to customize them for specific robots, see https://github.com/start-jsk/rtmros_common/issues/127

https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_atlas/scripts/atlas_hrpsys_dashboard https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_atlas/src/hrpsys_gazebo_atlas/atlas_hrpsys_dashboard.py

[hyaguchijsk]

I compared hironx_client.py and hrpsys_dashborad.py

In hironx_client.py,

• servo on process: -- remove and setup jointGroups -- sh_svc.goActual() -- rh_svc.servo(jname, SWITCH_ON) -- Move to Actual State -- sc_svc.servoOn()
• servo off process: -- sc_svc.servoOff() -- rh_svc.servo('all', SWITCH_OFF) -- rh_svc.power('all', SWITCH_OFF)

In hrpsys_dashboard.py,

• servo on process: -- power(OpenHRP_RobotHardwareService_powerRequest("all",0)) -- actual(OpenHRP_StateHolderService_goActualRequest()) -- servo(OpenHRP_RobotHardwareService_servoRequest("all",0))
• servo off process: -- servo(OpenHRP_RobotHardwareService_servoRequest("all", 1)) -- power(OpenHRP_RobotHardwareService_powerRequest("all",1))

I also tested hrpsys_dashborad.py with hiro014, both commands seem to work well, after using hironx_client.py.

2014-09-26 19:50 GMT+09:00 Kei Okada notifications@github.com:

if you want to customize them for specific robots, see

127 https://github.com/start-jsk/rtmros_common/issues/127

https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_atlas/scripts/atlas_hrpsys_dashboard

https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_atlas/src/hrpsys_gazebo_atlas/atlas_hrpsys_dashboard.py

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_common/issues/548#issuecomment-56946756 .

[k-okada]

1) updae http://wiki.ros.org/rtmros_nextage/Tutorials/Monitoring%2C%20operating%20via%20GUI wiki on how to servo on/off 3) create hironx_dashboard based on https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/scripts/hrpsys_dashboard, and add checkEncoder button 4) dashboard for hrp2 have start/stop impedance button (ask @mmurooka ), move that code into hrpsys_dashboard.py, if it is already implemented that's ok 5) overwrite servo on / off code in hironx_dasboard using RTM code directory, so that you can use hironx_dashboard without starting ros bridge code (I'm not confident in this change, if you have support/object please let me know)

[mmurooka]

4) dashboard for hrp2 have start/stop impedance button (ask @mmurooka ), move that code into hrpsys_dashboard.py, if it is already implemented that's ok

Now, source code of hrp2 dashboard is in jsk unreleased repository. A part of source code is following, and impedance service of hrpsys needs names of link and sensor.

            elif len(sys.argv) == 2 and sys.argv[1] == "--startIMP":
                left_param=self.ic_svc.getImpedanceControllerParam("lhsensor")
                left_param[1].base_name='CHEST_JOINT1'
                left_param[1].target_name='LARM_JOINT6'
                self.ic_svc.setImpedanceControllerParam(left_param[1])
                right_param=self.ic_svc.getImpedanceControllerParam("rhsensor")
                right_param[1].base_name='CHEST_JOINT1'
                right_param[1].target_name='RARM_JOINT6'
                self.ic_svc.setImpedanceControllerParam(right_param[1])

[mmurooka]

Maybe https://github.com/fkanehiro/hrpsys-base/issues/232 is related.

[snozawa]

In previous comments,

In `hironx_client.py`
...
In `hrpsys_dashboard.py`, 
...

I also find servoOn() function in hrpsys_config.py: https://github.com/fkanehiro/hrpsys-base/blob/master/python/hrpsys_config.py

servoOn function in hironx_client.py and hrpsys_config.py are RTM interface python script. What is the difference between them?

[k-okada]

https://github.com/start-jsk/rtmros_hironx/blob/hydro-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L413 and https://github.com/fkanehiro/hrpsys-base/blob/master/python/hrpsys_config.py#L1455 are slightly different.

hironx added the code to reset joint groups, which I'm not confident.I believe we do not need this, but urko reported we need this one.(https://code.google.com/p/rtm-ros-robotics/issues/detail?id=277). May be we need to check this again > @hyaguchijsk https://github.com/start-jsk/rtmros_hironx/blob/hydro-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L453

[hyaguchijsk]

At first time I faced the same problem (Servo On then freeze and red LED blinking) once but I forget the situation. I can not reproduce it.

As Urko's issue, I tried

• servoOn() (from dashboard)
• goInitial()
• servoOff() (from dashboard) and hand positions are changed,
• servoOn() (from dashboard) but it seems to work well.

I checked in following situations. All situations start after cold start-up of HIRO. Aim of the test is to check timing of resetting joint groups.

• After checkEncoders() from python client, Servo Off and Servo On from dashboard It works with no error.
• After checkEncoders() and servoOff() from python client, Servo On from dashboard It works with no error.
• After checkEncoders(), servoOff() and servoOn() from python client, Servo Off and Servo On from dashboard It works with no error.

2014-10-01 10:00 GMT+09:00 Kei Okada notifications@github.com:

https://github.com/start-jsk/rtmros_hironx/blob/hydro-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L413 and

https://github.com/fkanehiro/hrpsys-base/blob/master/python/hrpsys_config.py#L1455 are slightly different.

hironx added the code to reset joint groups, which I'm not confident.I believe we do not need this, but urko reported we need this one.( https://code.google.com/p/rtm-ros-robotics/issues/detail?id=277). May be we need to check this again > @hyaguchijsk https://github.com/hyaguchijsk

https://github.com/start-jsk/rtmros_hironx/blob/hydro-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L453

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_common/issues/548#issuecomment-57405766 .

[snozawa]

@k-okada, thank you and I understand the difference.

hironx added the code to reset joint groups, which I'm not confident.I believe we do not need this, but urko reported we need this one.(https://code.google.com/p/rtm-ros-robotics/issues/detail?id=277). May be we need to check this again > @hyaguchijsk

When we call setJointAngles(), seq.rtc initialize joint angles based on qInit from sh.rtc. I think we need to check this qInit is adequately applied to interpolators for each JointGroup.

@hyaguchijsk One possible situation for Urko's issue is that seq.rtc is still interpolating joint angles and outputting joint angles to sh.rtc.

For example,

1. servoOn
2. setJointAngles or setJointAnglesOfGroup (for 20 sec)
3. (do not wiat intepolation)
4. servoOff (immediately)
5. servoOn (immediately)

In 4 of this situation, robot is servoOff state but seq.rtc still outputs joint angles to sh.rtc. In 5, servoOn function calls goActual of sh.rtc, but seq.rtc still outputs joint angles to sh.rtc and reference joint angles in sh.rtc is apart from actual joint angles (encoder values).

In https://github.com/start-jsk/rtmros_hironx/blob/hydro-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L413 servoOn function call removeJointGroup. But in this situation, we need to call waitInterpolation or clear() for seq.rtc

[hyaguchijsk]

@snozawa Thanks, I reproduced the problem. Is this the problem for only HiroNX? or for all robots?

2014-10-01 21:59 GMT+09:00 Shunichi Nozawa notifications@github.com:

@k-okada https://github.com/k-okada, thank you and I understand the difference.

hironx added the code to reset joint groups, which I'm not confident.I believe we do not need this, but urko reported we need this one.( https://code.google.com/p/rtm-ros-robotics/issues/detail?id=277). May be we need to check this again > @hyaguchijsk https://github.com/hyaguchijsk

When we call setJointAngles(), seq.rtc initialize joint angles based on qInit from sh.rtc. I think we need to check this qInit is adequately applied to interpolators for each JointGroup.

@hyaguchijsk https://github.com/hyaguchijsk One possible situation for Urko's issue is that seq.rtc is still interpolating joint angles and outputting joint angles to sh.rtc.

For example,

1. servoOn
2. setJointAngles or setJointAnglesOfGroup (for 20 sec)
3. (do not wiat intepolation)
4. servoOff (immediately)
5. servoOn (immediately)

In 4 of this situation, robot is servoOff state but seq.rtc still outputs joint angles to sh.rtc. In 5, servoOn function calls goActual of sh.rtc, but seq.rtc still outputs joint angles to sh.rtc and reference joint angles in sh.rtc is apart from actual joint angles (encoder values).

In

https://github.com/start-jsk/rtmros_hironx/blob/hydro-devel/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L413 servoOn function call removeJointGroup. But in this situation, we need to call waitInterpolation or clear() for seq.rtc

— Reply to this email directly or view it on GitHub https://github.com/start-jsk/rtmros_common/issues/548#issuecomment-57458935 .

[snozawa]

Is this the problem for only HiroNX? or for all robots?

For all robots. This is the problem of seq.rtc and rh.rtc.

[k-okada]

I see, how about using https://github.com/fkanehiro/hrpsys-base/blob/master/idl/SequencePlayerService.idl#L96 and see if it under interpolating before servo on

[k-okada]

Cc: @130s

[snozawa]

I see, how about using https://github.com/fkanehiro/hrpsys-base/blob/master/idl/SequencePlayerService.idl#L96 and see if it under interpolating before servo on

+1. It seems goot test.