pr2 fetches drink demo on gazebo
furushchev opened this issue · 25 comments
working pr2.launch level
- some dependencies not installed => jsk-ros-pkg/jsk_robot#512
- segfault tilt_shadow_filter => ros-perception/laser_filters#27 => ros-perception/laser_filters#34
- segfault move_base => jsk-ros-pkg/jsk_robot#513
- kinect depth confusion => PR2/pr2_common#243
- wrong direction of pr2 projector => PR2/pr2_common#227
- realtime factor is slow => now about 0.25-0.4
- initial pose is not sync-ed on gazebo and rviz => jsk-ros-pkg/jsk_robot#517
- cannot move base => jsk-ros-pkg/jsk_robot#515
working demo launch level
- different between real world and model => euslisp/EusLisp#154 (seems easier to change model than change real world)
- wrong direction of table leg => private
- texture on fridge => jsk-ros-pkg/jsk_model_tools#161
- fridge is exploded => jsk-ros-pkg/jsk_model_tools#161
- cannot open door => jsk-ros-pkg/jsk_model_tools#161
- pr2 grasping is too slow => PR2/pr2_common#245
- pr2 gripper action does not return results => jsk-ros-pkg/jsk_robot#519, PR2/pr2_simulator#115
- no coffee can model => euslisp/EusLisp#155, euslisp/EusLisp#157
- no tea pack model => euslisp/EusLisp#156
- no hamburger model => euslisp/EusLisp#158
- ignore transparency of inner shelves in fridge on gazebo => #1154
- kinect depth image is not organized => ros-simulation/gazebo_ros_pkgs#373
- no demo launch file => #1155
rgb -> bgr problem
PR2/pr2_common#244
Depth name problem
PR2/pr2_common#243
@aginika ありがとう
@furushchev tilit_shadow_filter didn't fail...
export ROBOT=sim
roslaunch jsk_pr2_startup pr2_gazebo_73b2.launch
I executed above command. Is there any other thing to do?
確かに落ちてます。
配列のindexに-2147483648を入れるときがあるみたいです。
-1490571
by @aginika
- 冷蔵庫がバラバラになってしまう時がある。(modelはfixed）
- pr2のパターン照射がうるさい
冷蔵庫を固定してみると、ドアの把持まではうまくいきそう。
- Prepare the node which will set the initial pose for amcl
- remove this
- pr2 grasp is slow
PR2/pr2_common#245
For tmp fix,
https://github.com/aginika/pr2_common/blob/speed-up-grasp/pr2_description/urdf/gripper_v0/gripper.transmission.xacro#L45
may well? I didn't confirm whether it will grasp or not.
- pr2のstart-graspが終わらない
stop-graspは終わる?
終わる。おそらくドアハンドルに阻まれて目標に到達しないんだと思う。
start-grasp problem is solved with above solution.
上記ので，というのは
<!-- Set params for sim -->
<param
name="r_gripper_controller/gripper_action_node/stall_velocity_threshold"
value="0.01" type="double"/>
<param
name="l_gripper_controller/gripper_action_node/stall_velocity_threshold"
value="0.01" type="double"/>
?
◉ Kei Okada
On Thu, Dec 10, 2015 at 4:05 PM, aginika notifications@github.com wrote:
start-grasp問題は上記ので解決しました。
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#1149 (comment)
.
Yes
The change https://github.com/jsk-ros-pkg/jsk_robot/pull/519/files
will fix this problem
@aginika @k-okada みんな困ると思うのでupstreamにもPR送りました。
PR2/pr2_simulator#115
If anyone else from your lab needs maintainer admin access.. let me know and I can give it to you. You guys are doing great work.
Closed this issue. All issues were now solved.
Thanks