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turtlebot / turtlebot_create_desktop

Visualisation and simulation tools for the iRobot Create
http://www.ros.org/wiki/turtlebot_create_desktop
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Update contact manager for Gazebo 2.0 #16

Closed trainman419 closed 9 years ago

trainman419 commented 9 years ago

I've updated the gazebo create plugin for Gazebo2. It's late and I don't have time to test it, but it at least seems sound and it compiles.

This should resolve #7

It may also be worth consolidating the hydro, hydro-devel and indigo branches; it looks like they've diverged, and there are changes in the hydro branch that haven't made it to the indigo branch yet...

trainman419 commented 9 years ago

It looks like the contact manager is being used to simulate drop sensors. Testing that those work properly in simulation may be tricky.

bit-pirate commented 9 years ago

Have you checked the kobuki plugin? We probably had to jump through the same hoops.

On 19 November 2014 18:47, Austin notifications@github.com wrote:

It looks like the contact manager is being used to simulate drop sensors. Testing that those work properly in simulation may be tricky.

— Reply to this email directly or view it on GitHub https://github.com/turtlebot/turtlebot_create_desktop/pull/16#issuecomment-63614760 .

Innovation Team Leader Yujin Robot Seoul, Republic of Korea Twitter: @yujinrobotinno Website: http://inno.yujinrobot.com Email: marcus.liebhardt@yujinrobot.com Phone: +82-70-46577073

trainman419 commented 9 years ago

There's an open issue, but no resolution, and I haven't been able to find a commit in the kobuki_desktop repository that makes similar changes.

I suspect the kobuki simulator is simulating the drop sensors differently.

trainman419 commented 9 years ago

Scratch that; the contact detection is actually simulating the bump sensors. The kobuki node does this differently, by polling the bumper for contacts instead of subscribing to the contacts from the simulator, and this is why this issue isn't present in the kobuki gazebo plugin.

I ran it through gazebo a bit, and it runs, but it doesn't appear to detect bumps properly. Otherwise, it seems to work ok.

trainman419 commented 9 years ago

At least part of the problem with the bump detection is that there are no contacts between the base and the world, because the collision geometry is too small. See: https://github.com/trainman419/turtlebot_create/commit/21ccdc4427399e99845728cbd8259b9260aa412b

With that fixed, and contacts properly generated, it still looks like contacts aren't properly filtered or subscribed to. At this point it probably needs someone who knows gazebo better than I do.

I'm starting to wonder if this ever worked, and if we should just release it with my partial fix, and fix the remaining issues later.

jihoonl commented 9 years ago

Yeah agree

jihoonl commented 9 years ago

thanks for the fix.