Gazebo Issues - Githubissues

swri-robotics / gilbreth

robotic product handling simulation

BSD 3-Clause "New" or "Revised" License

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Gazebo Issues #16

Open marip8 opened 7 years ago

marip8 commented 7 years ago

[ ] Occasionally commands to move robot/rail only moves robot
[ ] Simulated kinect sensor has no parameters for creating/controlling depth noise

marip8 commented 7 years ago

I haven't found a solution to the issue where just the robot moves when commanding the robot/rail move group, but I did notice something interesting after repeated testing:

If the first plan/execution with the robot/rail is a movement only in the direction of the rail (i.e. forcing the just the rail to actuate), Gazebo will simulate this correctly and all subsequent moves with the robot/rail will be simulated correctly.
If the first plan/execution requires joints of the robot to move, Gazebo will only simulate the robot moving, and all subsequent planning/execution will only be simulated with the robot

Maybe a temporary solution to this issue can be a motion plan that is executed at startup that jogs just the rail joint? I'll look into the Gazebo MoveIt controller plug-in code some more to see if I can find the issue

@alex07zzz @lianjunli @jrgnicho

marip8 commented 7 years ago

I tried an apt-update to see if any updated versions of Gazebo or the Gazebo ROS interface had been released that fixed this issue, but I kept running into the same problem.

Then I tried building the gazebo_ros_pkgs repository from source (contains the Gazebo ROS control plugin), and I moved the robot/rail successfully every time I tried it (~10 trials, relaunching the simulation each time). It seems like there might be some change/bug fix on that branch that hasn't made it into the release yet

@alex07zzz can you try building this repo in your workspace to see if solves the issue for you?

jrgnicho commented 7 years ago

@marip8 It seems like the issues you have observed may be related to this issue in the gazebt_ros_pkg repository. Good to know that the source alternative doesn't have this problem, thanks for looking into that.

marip8 commented 7 years ago

Maybe this issue and this PR could also be related to our issue?

jrgnicho commented 7 years ago

The issues described in that PR sound like it could lead to the issue that we've been seeing. Could you try applying those changes to your local gazebo_ros package and see if that fixes it. If it does we should put pressure to get that PR merged.

jrgnicho commented 6 years ago

@marip8 I sort of dropped the ball on this. Were these issues resolved?