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start-jsk / rtmros_gazebo

gazebo simulation for rtmros robots
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[WIP][Depends on #242]fix IOBplugin to enable use_velocity_feedback in kinetic #245

Open Naoki-Hiraoka opened 4 years ago

Naoki-Hiraoka commented 4 years ago

In kinetic, https://github.com/start-jsk/rtmros_gazebo/blob/7389a49529be6d373581779f0aa88563c6e6d2bf/hrpsys_gazebo_general/config/SampleRobot.yaml#L3 if use_velocity_feedback is true, the robot blows off with roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch. samplebot_velocity

From http://answers.gazebosim.org/question/8371/kobukiturtlebot-doesnt-move-when-given-velocity-commands-in-gazebo-5/?answer=8377#post-id-8377 , I tried using joint->SetParam("vel") and joint->SetParam("max_force"). (https://github.com/start-jsk/rtmros_gazebo/commit/e4b8b59ee45a3c05370a4d72ff5def91734747e2) However, the robot was not actuated. samplebot_velocity1

Then, from http://gazebosim.org/tutorials?tut=set_velocity&cat= , I tried using joint->SetParam("vel") and joint->SetParam("fmax"). (https://github.com/start-jsk/rtmros_gazebo/commit/4747e0362ad46ba1582aeb9a48515f8a7fa1bc16) Though the robot was actuated and not blew off, the robot was not controlled as intended. samplebot_velocity2

For now, we have to set use_velocity_feedback to false in kinetic.

Naoki-Hiraoka commented 4 years ago

This PR does NOT work on kinetic. This PR is just a bug report , so we don't have to merge this. I'm sorry for the confusion.

pazeshun commented 4 years ago

@k-okada In my understanding, this PR is a trial to use the same configuration as indigo (use_velocity_feedback: true) on kinetic and melodic. Finally, @Naoki-Hiraoka gave up using the same configuration. On #250 , he changed the configuration (use_velocity_feedback: false and adjusting gains). @Naoki-Hiraoka Is my understanding correct?

pazeshun commented 4 years ago

I created #253 to reconstruct old configuration.

Naoki-Hiraoka commented 4 years ago

@k-okada In my understanding, this PR is a trial to use the same configuration as indigo (use_velocity_feedback: true) on kinetic and melodic. Finally, @Naoki-Hiraoka gave up using the same configuration. On #250 , he changed the configuration (use_velocity_feedback: false and adjusting gains). @Naoki-Hiraoka Is my understanding correct?

Yes. We use use_velocity_feedback: false on kinetic and melodic now, and samplerobot can walk.