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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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Impedance control seems not working for NEXTAGE Open on hrpsys-simulator #302

Open 130s opened 7 years ago

130s commented 7 years ago

With the same set of commands from https://github.com/start-jsk/rtmros_hironx/pull/482, NEXTAGE in the hrpsys-simulator doesn't do anything specific to impedance control.

I found when I run from Python i/f:

In [1]: robot.startImpedance('larm')

the following occurs in nextage_ros_bridge_simulation.launch console:

[rtmlaunch] check connection/activation
[ic] Could not found impedance controller param [larm]

Same error for rarm with rarm param not found.

$ rtls localhost:15005/
StateHolderServiceROSBridge.rtc        fk.rtc                             DataLoggerServiceROSBridge.rtc  SequencePlayerServiceROSBridge.rtc
ImageSensorROSBridge_HandLeft.rtc      sh.rtc                             HiroNX(Robot)0.rtc              ImageSensorROSBridge_HeadRight.rtc
seq.rtc                                HrpsysJointTrajectoryBridge0.rtc   log.rtc                         HGcontroller0.rtc
sc.rtc                                 ModelLoader                        el.rtc                          CollisionDetector0.rtc
ImageSensorROSBridge_HandRight.rtc     ImageSensorROSBridge_HeadLeft.rtc  HrpsysSeqStateROSBridge0.rtc    longfloor(Robot)0.rtc
ForwardKinematicsServiceROSBridge.rtc  tork-kudu1.host_cxt/                ic.rtc                          rmfo.rt
k-okada commented 7 years ago

please confirm if you have conf file with end_effector key like https://github.com/start-jsk/rtmros_hironx/pull/482/files

-- ◉ Kei Okada

2017-03-28 7:33 GMT+09:00 Isaac I.Y. Saito notifications@github.com:

With the same set of commands from start-jsk/rtmros_hironx#482 https://github.com/start-jsk/rtmros_hironx/pull/482, NEXTAGE in the hrpsys-simulator doesn't do anything specific to impedance control.

I found when I run from Python i/f:

In [1]: robot.startImpedance('larm')

the following occurs in nextage_ros_bridge_simulation.launch console:

[rtmlaunch] check connection/activation [ic] Could not found impedance controller param [larm]

Same error for rarm with rarm param not found.

$ rtls localhost:15005/ StateHolderServiceROSBridge.rtc fk.rtc DataLoggerServiceROSBridge.rtc SequencePlayerServiceROSBridge.rtc ImageSensorROSBridge_HandLeft.rtc sh.rtc HiroNX(Robot)0.rtc ImageSensorROSBridge_HeadRight.rtc seq.rtc HrpsysJointTrajectoryBridge0.rtc log.rtc HGcontroller0.rtc sc.rtc ModelLoader el.rtc CollisionDetector0.rtc ImageSensorROSBridge_HandRight.rtc ImageSensorROSBridge_HeadLeft.rtc HrpsysSeqStateROSBridge0.rtc longfloor(Robot)0.rtc ForwardKinematicsServiceROSBridge.rtc tork-kudu1.host_cxt/ ic.rtc rmfo.rt

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130s commented 7 years ago

Yes,

$ rospack find nextage_ros_bridge 
/home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge
$ cat `rospack find nextage_ros_bridge`/conf/nextage.conf                                    
model: file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
dt: 0.005
collision_pair: RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
end_effectors: rarm,RARM_JOINT5,CHEST_JOINT0,0.0,0.0,0.0,-0.57735027,-0.57735027,-0.57735027,-2.0943951023931953,larm,LARM_JOINT5,CHEST_JOINT0,0.0,0.0,0.0,0,1,0,-1.5707963267948966,
$ cat `rospack find nextage_ros_bridge`/conf/nextage_nosim.conf
model: file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae
dt: 0.005
collision_pair: RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5
end_effectors: rarm,RARM_JOINT5,CHEST_JOINT0,0.0,0.0,0.0,0.57737,0.57735,0.57735,2.0944,larm,LARM_JOINT5,CHEST_JOINT0,0.0,0.0,0.0,0.57737,0.57735,0.57735,2.0944,
k-okada commented 7 years ago

Does your robot have force torque sensors? https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/ImpedanceController/ImpedanceController.cpp#L199-L251

-- ◉ Kei Okada

2017-03-29 10:04 GMT+09:00 Isaac I.Y. Saito notifications@github.com:

Yes,

$ rospack find nextage_ros_bridge /home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge $ cat rospack find nextage_ros_bridge/conf/nextage.conf model: file:///home/rosnoodle/cws_hironxo/src/tork-a/rtmros_nextage/nextage_ros_bridge/models/nextage.dae dt: 0.005 collision_pair: RARM_JOINT2:LARM_JOINT2 RARM_JOINT3:LARM_JOINT3 RARM_JOINT4:LARM_JOINT4 RARM_JOINT5:LARM_JOINT5 end_effectors: rarm,RARM_JOINT5,CHEST_JOINT0,0.0,0.0,0.0,-0.57735027,-0.57735027,-0.57735027,-2.0943951023931953,larm,LARM_JOINT5,CHEST_JOINT0,0.0,0.0,0.0,0,1,0,-1.5707963267948966,

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