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Enable Gazebo simulation for mycobot280 and with Moveit #47
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- Restore the gazebo+moveit demo
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It looks a little dark in Gazebo. I made a PR to fix this. Please check this out!
tongtybj#1
Update brightness
@tongtybj Thanks for the PR! I'm very interested in getting this working but I ran into a few errors. I'm still quite new to ROS, so I apologize if any of these are due to my own lack of knowledge/experience. I'm testing this using Noetic in Docker (see #49). One of the errors I see in rosout is this:
I resolved this by adding
I'm also seeing some error messages about p gain:
I see the p gain set in Next, I tried to plan and execute a movement in Rviz. I see Rviz updating the robot position, but I don't see any movement in Gazebo and I see this error:
I'll try to spend more time time testing/debugging this later. |
Thank you for your trial!
Thank you for your suggestion. I addressed this problem by 2fbeee4
Actually, this is a message to announce the usage of position-based joint, rather than an error. You can ignore this part. The reason why I choose the position-based joint and related control rather than effort-based one, is I am tired to tune the control parameter for this robot in simulation mode, which is quite meaningless. If you have any need to try effort-based behavior, let's develop in other PR.
Oh, this is the critical error... The second line of the error message shows there is no any valid joint controllers. I will also try this repository in noetic environment to figure out the reason. |
I scrolled up a little further and saw this error in my rosout:
I resolved this error by adding a run dependency to package.xml:
Now it works fine and I can see the robot position is updated in Rviz and Gazebo! I also tested this in Melodic and its working there too. I'm unsure why this dependency is needed in Noetic but not Melodic, but it looks like they added it to their template a while back moveit/moveit#2455. I see another error in rosout with Noetic.
According to https://answers.ros.org/question/357672/cannot-locate-node-of-type-state_publisher/ I just needed to rename the publisher in
However, it results in lots of warnings in Noetic.
This might be related to the deprecation of |
- Correct the node type for robot_state_publisher in gazebo.launch - Remove necessary joint_state_publisher and duplicated robot_state_publisher in demo_gazebo.launch
Thanks for your great contribution!! The lack of dependency description of The noise |
This works great, the warnings are now gone. Thanks for your help on this! |
@tongtybj thanks for doing the 320 model too! I'm also interested in using that one. I tried it and I noticed there appears to be some jittering or instability in the model. When I spawn the robot the texture of the base appears to flash in Gazebo. I also notice that the robot pose drifts over time, even when there is no force is applied. Do you see that as well? |
This was closed by GitHub automatically. Should probably be merged. |
I found the latest repository does not support gazebo simulation and further moveit. So I correct the urdf model as well as several config files to realize the simulation
Features
joint1
->link1
)<transmission>
tag in urdf flle and controller plugin for joint trajectory controllermycobot_gazebo_moveit.mp4
Usage: