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tork-a / rtmros_nextage

ROS-OpenRTM-based opensource robot controller software for dual-armed robot Nextage from Kawada Industries
http://wiki.ros.org/rtmros_nextage
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What is the BODY frame and how can I set it? #163

Closed longjie closed 8 years ago

longjie commented 9 years ago

The NEXTAGE Open's root link is WAIST. I'm getting warning that some frame has no transformation from WAIST.

odom and base_footprint is OK, they are for mobile robots. They should be somewhere on the ground. What is the BODY frame and how can I set it?

k-okada commented 9 years ago

could you paste error message? and also is it possible to reproduce this with simulator?

◉ Kei Okada

On Wed, Apr 8, 2015 at 10:50 AM, Ron Tajima notifications@github.com wrote:

The NEXTAGE Open's root link is WAIST. I'm getting warning that some frame has no transformation from WAIST.

  • BODY
  • odom
  • base_footprint

odom and base_footprint is OK, they are for mobile robots. They should be somewhere on the ground. What is the BODY frame and how can I set it?

— Reply to this email directly or view it on GitHub https://github.com/tork-a/rtmros_nextage/issues/163.

longjie commented 9 years ago

It's not errors, just warnings. I have ignored this until moveit_planning_execution.launch produce massive waning messages to the console (as the SS I attached). I guess it is no problem to publish some tf to eliminate them. I just want to know what is the correct transform from WAIST to BODY and what BODY frame means.

And yes, this warning happens on simulator. Doing:

$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch

and running rviz, we get same warnings "No transform from [BODY] to frame [WAIST]". Version is 0.6.1

Thank you.

snapx6 7

k-okada commented 9 years ago

Although I did not get so many warnings, I have noticed that odom-> base_footprint -> BODY is orphaned . I guess it comes from hrpsys_ros_bridge/launch/hrpsys_ros_bridge.launch and we have to specify BASE_LINK when we include hrpsys_ros_bridge.launch form nextage/hiro.

screenshot from 2015-04-14 20 20 38 screenshot from 2015-04-14 20 22 57

longjie commented 9 years ago

I see. The BODY is for humanoids, to estimate the floating coordinate from gyro-sensors. I simply added hironx_ros_bridge.launch 

    <arg name="BASE_LINK" value="WAIST"/>

and tf is now completely healthy. Thank you!

k-okada commented 9 years ago

great! could you commit that fix if you have time? Thanks in advance

◉ Kei Okada

On Wed, Apr 15, 2015 at 10:22 AM, Ron Tajima notifications@github.com wrote:

I see. The BODY is for humanoids, to estimate the floating coordinate from gyro-sensors. I simply added hironx_ros_bridge.launch 

<arg name="BASE_LINK" value="WAIST"/>

and tf is now completely healthy. Thank you!

— Reply to this email directly or view it on GitHub https://github.com/tork-a/rtmros_nextage/issues/163#issuecomment-93134456 .