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joint_state_publisher_gui gives errors on using revolute joints with inf limits in SDF #105

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Amronos opened this issue Dec 1, 2024 · 2 comments · May be fixed by #106
Open

joint_state_publisher_gui gives errors on using revolute joints with inf limits in SDF #105

Amronos opened this issue Dec 1, 2024 · 2 comments · May be fixed by #106

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@Amronos
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Amronos commented Dec 1, 2024 •
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I have defined my revolute joint in SDF like this:

    <joint name="test_joint" type="revolute">
      <parent>base_link</parent>
      <child>test_link</child>
      <pose relative_to="base_link">1 1 1 0 0 0</pose>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-inf</lower>
          <upper>inf</upper>
        </limit>
      </axis>
    </joint>

I get the following errors:

[joint_state_publisher_gui-1] [INFO] [1733051122.369655512] [joint_state_publisher_gui]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-1] [INFO] [1733051122.387361215] [joint_state_publisher_gui]: Centering
[joint_state_publisher_gui-1] [INFO] [1733051122.495230202] [joint_state_publisher_gui]: Centering
[joint_state_publisher_gui-1] Traceback (most recent call last):
[joint_state_publisher_gui-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py", line 207, in initializeSliders
[joint_state_publisher_gui-1]     self.centerEvent(None)
[joint_state_publisher_gui-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py", line 245, in centerEvent
[joint_state_publisher_gui-1]     joint_info['slider'].setValue(self.valueToSlider(joint['zero'], joint))
[joint_state_publisher_gui-1]                                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[joint_state_publisher_gui-1]   File "/opt/ros/jazzy/lib/python3.12/site-packages/joint_state_publisher_gui/joint_state_publisher_gui.py", line 255, in valueToSlider
[joint_state_publisher_gui-1]     return int((value - joint['min']) * float(RANGE) / (joint['max'] - joint['min']))
[joint_state_publisher_gui-1]            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
[joint_state_publisher_gui-1] ValueError: cannot convert float NaN to integer

Then I get the below errors upon moving the sliders.

[rviz2-3] [ERROR] [1733051135.281374250] []: TF_NAN_INPUT: Ignoring transform for child_frame_id "test_link" from authority "Authority undetectable" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
[rviz2-3] [ERROR] [1733051135.281509904] []: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "test_link" from authority "Authority undetectable" because of an invalid quaternion in the transform (-nan -nan -nan -nan)

I think the infinite values for the limit cause this. I can not use a continuous joint in my case as Gazebo does not support it.
@Amronos Amronos changed the title joint_state_publisher_gui crashes on using revolute joints joint_state_publisher_gui crashes on using revolute joints with inf limits in SDF Dec 9, 2024
@Amronos Amronos changed the title joint_state_publisher_gui crashes on using revolute joints with inf limits in SDF joint_state_publisher_gui gives errors on using revolute joints with inf limits in SDF Dec 9, 2024
@Amronos Amronos linked a pull request Dec 9, 2024 that will close this issue
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@DLu
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DLu commented Dec 10, 2024

To me, this is a Gazebo bug, and the correct answer is to use a continuous joint. What happens in Gazebo?

@Amronos
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Amronos commented Dec 11, 2024 •
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To me, this is a Gazebo bug, and the correct answer is to use a continuous joint. What happens in Gazebo?

gazebosim/sdformat#326 does provide some details on this.
I don't really see a problem in supporting a revolute joint with infinite limits in joint_state_publisher/joint_state_publisher_gui till continuous joints are supported by Gazebo.
After continuous joints are supported by Gazebo, a warning or error could be added instead.

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Fix revolute joints with infinite limits not working in SDF Amronos/joint_state_publisher
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@DLu @Amronos