Fix PR2 calibration by using hacked version of urdf_parser_py by overwriting PYTHONPATH in the shell scripts.

[garaemon]

• add pr2_urdf_parser_py directory by copying from Fix for pr2_calibration package to work ros/urdfdom#55
• overwrite PYTHONPATH when running multi_step_cov_estimator.py to use urdf_parser_py under pr2_urdf_parser_py directory instead of official urdf_parser_py
• You can test calibration by https://drive.google.com/file/d/0B4bnoIcbRJVuVWVqT1ExR0hvcEE/view?usp=sharing

[mikeferguson]

this is probably wrong

[garaemon]

fixed

[UltronDestroyer]

I'll give this a test on our PR2 and get back to this thread in 5 minutes.

[UltronDestroyer]

This code is copied from the old urdfdom, right?

Edit: nevermind, I should read more before replying

[garaemon]

nop, copied from the pull request nit merged into urdfdom by @k-okada

2014年12月2日火曜日、Devon [email protected]さんは書きました:

This code is copied from the old urdfdom, right?

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#6 (comment).

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[UltronDestroyer]

Just to confirm to those who are interested: the pr2_recalibrate.launch process is not the calibration process that is under issue.

I've tested this on our robot and it works. Have you tried this on your robot @garaemon ?

[garaemon]

Just to confirm to those who are interested: the pr2_recalibrate.launch process is not the calibration process that is under issue.

I don't know pr2_recalibrate.launch launch file. where can I find it?

[garaemon]

about estimate_pr2_beta_urdf.sh, it works on my environment.

[UltronDestroyer]

pr2_recalibrate.launch exists inside pr2_bringup

/opt/ros/hydro/share/pr2_bringup/

I'm not sure how it's different from pr2_calibration_launch.. The pr2_calibration_launch seems to be what is used to generate the initial URDF and the pr2_recalibrate is to.. fine tune later?

[garaemon]

I didn't know that.

The pr2_calibration_launch seems to be what is used to generate the initial URDF and the pr2_recalibrate is to.. fine tune later?

I think we need to run pr2_recablirate before capturing data only if encode has large error.
But I think the encoders has good precision according to the calibration when starting up pr2.

[UltronDestroyer]

This is fixed now yeah?

[garaemon]

Yes, fixed

[UltronDestroyer]

Thanks @garaemon