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start-jsk / rtmros_hironx

hironx controller and applications using rtmros packages
http://wiki.ros.org/rtmros_hironx
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Avoid node clashing when USE_COLLISIONCHECK is true #528

Closed Affonso-Gui closed 5 years ago

Affonso-Gui commented 6 years ago

When USE_COLLISIONCHECK tag is true node clashing occurs in hironx_ros_bridge_real.launch:

roslaunch file contains multiple nodes named [/collision_state].
Please check all <node> 'name' attributes to make sure they are unique.
Also check that $(anon id) use different ids.
The traceback for the exception was written to the log file

This can be solved by not calling collision_detector.launch, which is already included by setting USE_COLLISIONCHECK to true.

The argument is also added in hironx_ros_bridge_real.launch, so we can set it from command line.

@pazeshun

pazeshun commented 6 years ago

Note 1: In our hironx, collision detector rtc (co.rtc) can be running thanks to #423 , so we want to set USE_COLLISIONCHECK to true in hrpsys_ros_bridge.launch and use CollisionDetectorServiceROSBridge. Otherwise (setting USE_COLLISIONCHECK to false), that bridge doesn't bring up.

pazeshun commented 6 years ago

Note 2: collision_detector.launch newly launches and uses collision detector rtc outside robot, while setting USE_COLLISIONCHECK to true in hrpsys_ros_bridge.launch uses collision detector rtc inside robot.

pazeshun commented 6 years ago

@k-okada I think this PR harms nothing. Would you please review this?

pazeshun commented 5 years ago

@k-okada Travis passed thanks to #531 . Please review this.