size of joints of PR2GripperTransmission on hydro

[garaemon]

I have a following error when running pr2_ethercat on hydro:

[ERROR] [1412061906.096726706]: Failed to initialize transmission
[FATAL] [1412061906.210650710]: ASSERTION FAILED
        file = /home/applications/ros/hydro/src/pr2_mechanism/pr2_mechanism_model/src/pr2_gripper_transmission
.cpp
        line = 545
        cond = js.size() == 1 + passive_joints_.size() + 1

I'm using a robot model based on pr2_1.11.4.urdf.xacro and js.size and passive_joints_.size are 0.

Is something wrong?

cc: @k-okada

[garaemon]

When I use robot model based on pr2_1.10.3.urdf, js.size() is 7 and passive_joints_.size() is 4.

[garaemon]

we needed to change pr2.urdf.xacro as following:

$  diff robot_calibrated_2014_09_29_23_23.xml robot_calibrated_2014_09_29_23_23.xml.org 
1416,1419d1415
<     <rightActuator mechanicalReduction="60.1714285714" name="r_wrist_r_motor"/>
<     <leftActuator mechanicalReduction="60.1714285714" name="r_wrist_l_motor"/>
<     <flexJoint mechanicalReduction="-1.0" name="r_wrist_flex_joint"/>
<     <rollJoint mechanicalReduction="1.0" name="r_wrist_roll_joint"/>
1656,1662d1651
<     <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="r_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
<     <use_simulated_gripper_joint/>
<     <passive_joint name="r_gripper_l_finger_joint"/>
<     <passive_joint name="r_gripper_r_finger_joint"/>
<     <passive_joint name="r_gripper_r_finger_tip_joint"/>
<     <passive_joint name="r_gripper_l_finger_tip_joint"/>
<     <simulated_actuated_joint name="r_gripper_motor_screw_joint" passive_actuated_joint="r_gripper_motor_slider_joint" simulated_reduction="3141.6"/>
1968,1971d1956
<     <rightActuator mechanicalReduction="60.1714285714" name="l_wrist_r_motor"/>
<     <leftActuator mechanicalReduction="60.1714285714" name="l_wrist_l_motor"/>
<     <flexJoint mechanicalReduction="-1.0" name="l_wrist_flex_joint"/>
<     <rollJoint mechanicalReduction="1.0" name="l_wrist_roll_joint"/>
2208,2214d2192
<     <gap_joint L0="0.0375528" a="0.0683698" b="0.0433849" gear_ratio="40.095" h="0.0" mechanical_reduction="1.0" name="l_gripper_joint" phi0="0.518518122146" r="0.0915" screw_reduction="0.004" t0="-0.0001914" theta0="0.0628824676201"/>
<     <use_simulated_gripper_joint/>
<     <passive_joint name="l_gripper_l_finger_joint"/>
<     <passive_joint name="l_gripper_r_finger_joint"/>
<     <passive_joint name="l_gripper_r_finger_tip_joint"/>
<     <passive_joint name="l_gripper_l_finger_tip_joint"/>
<     <simulated_actuated_joint name="l_gripper_motor_screw_joint" passive_actuated_joint="l_gripper_motor_slider_joint" simulated_reduction="3141.6"/>

[TheDash]

What was the issue? Those lines were added?

[garaemon]

In order to run pr2_ethercat with the latest pr2.urdf, I needed to add
those lines to the urdf file.
However I don't know whether I should fix urdf or pr2_mechanism_model.

Is there anybody who know why these lines are removed from urdf file?

2014年9月30日火曜日、Devon [email protected]さんは書きました:

What was the issue? Those lines were added?

—
Reply to this email directly or view it on GitHub
#324 (comment).

from iPhone

[garaemon]

Any update?

Is there anybody who tried pr2 calibration process on hydro?

[garaemon]

I addressed this critical issue.
pr2 calibration process is:

1. read robot_description from parameter server
2. collect data
3. save them into a bag file
4. conduct calibration from the bag file
5. dump the calibration parameters into urdf files.

And current urdf_parser_py ignores the tags described in above comment and
the tags will be disappeared between 4. and 5.

We need to fix urdf or mechanism controller in order to achieve pr2 calibration on hydro.

[garaemon]

This pull request can solve this problem, however it is still rejected.

[TheDash]

Sorry, it seems the emails have been getting marked as spam for some reason. I'll look over this and get back to you