start-jsk/jsk_mbzirc

Errors in husky simulation

cretaceous-creature opened this issue · 4 comments

cretaceous-creature commented

@k-okada
I am sorry, okada sensei. This morning I went to take the driving test and did not
reply to the issue.
Basically I am responsible for building the husky simulation package. There are
some problems in husky deb package, and in my ./install.sh , we have to remove
all the husky deb packages husky*l, and build from the corresponding branch of
the source code in github.
For the PR2 gripper, I heard that Furata had fixed the bug and I am considering to ask
him after he finish writing his master thesis.

For the real UGV, we ordered the base from china
http://world.taobao.com/item/522137161468.htm?fromSite=main&spm=a312a.7700824.w4002-39162482.34.NWPdVa
This UGV can load for 70kg and as fast as 15km/h for 40kg load.
I will change the electronic design after we receive it next month.

k-okada commented

what is the huske dep package problem? what I found is;

  • roslaunch ur_gazebo ur5.launch -> working (with deb)
  • roslaunch husky_gazebo husky_empty_world.launch -> not working witth deb
  • roslaunch husky_gazebo husky_empty_world.launch ur5_enabled:=true -> not
    working with deb, need to use source version or ur_robot repo,
    #17
    -> using source version of ur_robot , the robot still very unstable, we
    need fix more
  • inertia of ur5 robot is not correct ->
    ros-industrial/universal_robot#226
    did you solve this problem by using position controller instead of effort
    controller ?

  1. you do not have to remove deb package when compile source , if you have
    to do so, something wrong

  2. if you think you are leading this project, you should not depend on
    other's deadline, you have to do everything relating this project by
    yourself. and I think this is the requirement when I agree to use my name
    on your proposal

◉ Kei Okada

On Wed, Jan 13, 2016 at 3:17 PM, Chen notifications@github.com wrote:

@k-okada https://github.com/k-okada
I am sorry, okada sensei. This morning I went to take the driving test and
did not
reply to the issue.
Basically I am responsible for building the husky simulation package.
There are
some problems in husky deb package, and in my ./install.sh , we have to
remove
all the husky deb packages husky*l, and build from the corresponding
branch of
the source code in github.
For the PR2 gripper, I heard that Furata had fixed the bug and I am
considering to ask
him after he finish writing his master thesis.

For the real UGV, we ordered the base from china

http://world.taobao.com/item/522137161468.htm?fromSite=main&spm=a312a.7700824.w4002-39162482.34.NWPdVa
This UGV can load for 70kg and as fast as 15km/h for 40kg load.
I will change the electronic design after we receive it next month.

—
Reply to this email directly or view it on GitHub
#19.

cretaceous-creature commented

what is the huske dep package problem? what I found is;

  • roslaunch ur_gazebo ur5.launch -> working (with deb)
  • roslaunch husky_gazebo husky_empty_world.launch -> not working witth deb
  • roslaunch husky_gazebo husky_empty_world.launch ur5_enabled:=true -> not
    working with deb, need to use source version or ur_robot repo,
    #17
    -> using source version of ur_robot , the robot still very unstable, we
    need fix more

it seems husky(dep)+ur5(dep) will fail (still the husky(dep)
has no gripper installation)

Yes, I compared to several branches and the working one is using
position controller.

  1. you do not have to remove deb package when compile source , if you have
    to do so, something wrong

because before I build the ur5 from source and using the husky from deb,
it fail to
work then I remove the husky deb and build it from the source.

  1. if you think you are leading this project, you should not depend on
    other's deadline, you have to do everything relating this project by
    yourself. and I think this is the requirement when I agree to use my name
    on your proposal

OK, I think I know what you mean. Thank you very much for giving this
advice.

2016-01-13 22:54 GMT+08:00 Kei Okada notifications@github.com:

what is the huske dep package problem? what I found is;

  • roslaunch ur_gazebo ur5.launch -> working (with deb)
  • roslaunch husky_gazebo husky_empty_world.launch -> not working witth deb
  • roslaunch husky_gazebo husky_empty_world.launch ur5_enabled:=true -> not
    working with deb, need to use source version or ur_robot repo,
    #17
    -> using source version of ur_robot , the robot still very unstable, we
    need fix more
  • inertia of ur5 robot is not correct ->
    ros-industrial/universal_robot#226
    did you solve this problem by using position controller instead of effort
    controller ?

  1. you do not have to remove deb package when compile source , if you have
    to do so, something wrong

  2. if you think you are leading this project, you should not depend on
    other's deadline, you have to do everything relating this project by
    yourself. and I think this is the requirement when I agree to use my name
    on your proposal

◉ Kei Okada

On Wed, Jan 13, 2016 at 3:17 PM, Chen notifications@github.com wrote:

@k-okada https://github.com/k-okada
I am sorry, okada sensei. This morning I went to take the driving test
and
did not
reply to the issue.
Basically I am responsible for building the husky simulation package.
There are
some problems in husky deb package, and in my ./install.sh , we have to
remove
all the husky deb packages husky*l, and build from the corresponding
branch of
the source code in github.
For the PR2 gripper, I heard that Furata had fixed the bug and I am
considering to ask
him after he finish writing his master thesis.

For the real UGV, we ordered the base from china

http://world.taobao.com/item/522137161468.htm?fromSite=main&spm=a312a.7700824.w4002-39162482.34.NWPdVa
This UGV can load for 70kg and as fast as 15km/h for 40kg load.
I will change the electronic design after we receive it next month.

—
Reply to this email directly or view it on GitHub
#19.

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

k-okada commented

the problem was

  • enabling laser and arm in husky_empty_world.launch make simulation very unstable
  • just copying pr2 gripper did not work, husky and ur5 uses ros_control but pr2 girpper using old pr2_control_manger