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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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getJointAnglesOfGroup return empty list #360

Open 7675t opened 6 years ago

7675t commented 6 years ago

I tried to answer this question, but I cannot find the way even in the simulation.

I brought up the simulator:

$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch

And tried to get current joint angles but it return empty.

In [1]: robot.getJointAnglesOfGroup('rarm')
Out[1]: []

getJointAgnles can return the angles.

In [15]: robot.getJointAngles()
Out[15]: 
[0.0,
 0.0,
 0.0,
 -23.438770499285564,
 -5.004131902264918,
 -98.42261731814114,
 13.804548972953114,
 7.047588288128343,
 25.9220579638236,
 0.600001403060998,
 0.0,
 -100.00004285756798,
 -15.19999734702561,
 9.4000028826958,
 -3.2000265815851607]

And it works fine with MoveIt! .

Environment: Kinetic, Released versions.

ii  ros-kinetic-nextage-calibration  0.8.4-0xenial-2018062 amd64                 This package provides .launch files and other tools for calibrating t
ii  ros-kinetic-nextage-description  0.8.4-0xenial-2018031 amd64                 As a part of rtmros_nextage package that is a ROS interface for Nexta
ii  ros-kinetic-nextage-gazebo       0.8.4-0xenial-2018062 amd64                 Gazebo simulation for NEXTAGE Open
ii  ros-kinetic-nextage-ik-plugin    0.8.4-0xenial-2018053 amd64                 IKFast package for NEXTAGE Open
ii  ros-kinetic-nextage-moveit-confi 0.8.4-0xenial-2018061 amd64                 An automatically generated package with all the configuration and lau
ii  ros-kinetic-nextage-ros-bridge   0.8.4-0xenial-2018061 amd64                 A main ROS interface for developers and users of Nextage dual-armed r
ii  ros-kinetic-rtmros-nextage       0.8.4-0xenial-2018062 amd64                 The rtmros_nextage package is a ROS interface for Nextage dual-armed 
ii  ros-kinetic-hrpsys               315.14.0-0xenial-2018 amd64                 An OpenRTM-aist-based robot controller.
ii  ros-kinetic-hrpsys-ros-bridge    1.4.2-0xenial-2018061 amd64                 hrpsys_ros_bridge package provides basic functionalities to bind hrps
ii  ros-kinetic-hrpsys-tools         1.4.2-0xenial-2018022 amd64                 The hrpsys_tools package
k-okada commented 6 years ago

not sure why #505 was merged, but that is totally wrong. see https://github.com/start-jsk/rtmros_hironx/pull/530