"robot.ic_svc.getImpedanceControllerParam" does not return what was passed by startImpedance

[130s]

The values that getImpedanceControllerParam returns are not the same with what are passed to startImpedance.

So far I've only tested this on simulator. On real robot will be tested very soon.

Not sure how this relates or not to #325.

term-1$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch

term-2$ $ rospack find nextage_ros_bridge 
/opt/ros/indigo/share/nextage_ros_bridge
$ dpkg -p ros-indigo-nextage-ros-bridge |grep Ver
Version: 0.7.16-0trusty-20170509-121945-0800
$ ipython -i `rospack find nextage_ros_bridge`/script/nextage.py
:
In [1]: robot.startImpedance('larm', M_p = 15.0, D_p = 15.0, K_p = 15.0, M_r = 15.0, D_r = 300.0, K_r = 30                                                                                                   [55/510]
0.0)
[hrpsys.py] , Failt to getImpedanceControllerParam(larm)
startImpedance  call is done. This does't necessarily mean the function call was successful, since not all methods internally called return status

In [2]: robot.ic_svc.getImpedanceControllerParam('larm')                                                  
Out[2]: 
(False,
 OpenHRP.ImpedanceControllerService.impedanceParam(M_p=10.0, D_p=200.0, K_p=400.0, M_r=5.0, D_r=100.0, K_r=200.0, force_gain=[1.0, 1.0, 1.0], moment_gain=[1.0, 1.0, 1.0], sr_gain=1.0, avoid_gain=0.001, reference_g
ain=0.01, manipulability_limit=0.1, controller_mode=MODE_IDLE, ik_optional_weight_vector=[], use_sh_base_pos_rpy=False))

$ rtls localhost:15005/        
StateHolderServiceROSBridge.rtc        fk.rtc
DataLoggerServiceROSBridge.rtc         longfloor(Robot)0.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           SequencePlayerServiceROSBridge.rtc
ForwardKinematicsServiceROSBridge.rtc  tork-kudu1.host_cxt/
ic.rtc                                 *rmfo.rtc
$ rosnode list
/DataLoggerServiceROSBridge
/ForwardKinematicsServiceROSBridge
/HrpsysJointTrajectoryBridge
/HrpsysSeqStateROSBridge
/SequencePlayerServiceROSBridge
/StateHolderServiceROSBridge
/collision_state
/diagnostic_aggregator
/hand_left/ImageSensorROSBridge_HandLeft
/hand_right/ImageSensorROSBridge_HandRight
/hironx_ros_client
/hrpsys_profile
/hrpsys_py
/hrpsys_ros_diagnostics
/hrpsys_state_publisher
/left/ImageSensorROSBridge_HeadLeft
/moveit_python_wrappers_1494531264696351424
/moveit_python_wrappers_1494531278372584200
/right/ImageSensorROSBridge_HeadRight
/rosout
/rqt_hironxo
$ rostopic list|grep sensor
$ rostopic list|grep lh

[130s]

In HIRONX.startImpedance_315_3, the method returns when ic_svc.getImpedanceControllerParam returns False (which I think means no ImpedanceControllerParam was found on RTC side).

Is it the intended behavior?

[k-okada]

https://github.com/fkanehiro/hrpsys-base/blob/master/rtc/ImpedanceController/ImpedanceController.cpp#L789-L795

i think you haven't set config for RTC, please check output of rtcd

-- ◉ Kei Okada

2017-05-12 5:30 GMT+09:00 Isaac I.Y. Saito notifications@github.com:

In HIRONX.startImpedance_315_3 https://github.com/start-jsk/rtmros_hironx/blob/02c82654802336ae7deba01b65b564a83fcf2f61/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py#L1004, the method returns when ic_svc.getImpedanceControllerParam returns False (which I think means no ImpedanceControllerParam was found on RTC side).

Is it the intended behavior?

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