チュートリアル関連パッケージ ROS Melodic 対応状況 #46
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チュートリアルドキュメント内のキャプチャ画像が Indigo と Kinetic 版しか無いですね．
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NEXTAGE Open 以外のパッケージインストールも要確認ですね．
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debian パッケージ tork_moveit_tutorial/doc/moveit-tutorial_ja_robot-simulator.md Lines 237 to 244 in ddd376f
tork_moveit_tutorial/doc/moveit-tutorial_ja_robot-simulator.md Lines 330 to 341 in ddd376f |
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tork_moveit_tutorial/doc/moveit-tutorial_ja_robot-simulator.md Lines 260 to 290 in ddd376f |
tork_moveit_tutorial/doc/moveit-tutorial_ja_robot-simulator.md Lines 282 to 288 in ddd376f |
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ROS Melodic 版インストールソフトウェアまとめ
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も「インストール」時に依存関係にあるパッケージをインストールするため
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「ソースインストール」はソースをビルドしてから「インストール」する方法なのでワークスペースでのビルド利用とは異なるため．
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シェアドライブラリに関する作業が何か抜けていた？？？ |
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khi duaro は次の気になる点はあるものの Gazebo-MoveIt にて動作計画とその実行ができることを確認しました．
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NEXTAGE OPEN については既にシミュレータでの動作確認済ですが改めて動作確認をしました．
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myCobot もシミュレータの起動と動作計画・実行の確認をしました．
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duaro はロボットデザインが以前と異なるのでもしかしたら可動範囲外の姿勢を指定しれいるのかもしれないけど動作計画が見つからない． あと，Gazebo シミュレータを起動したときのロボットの姿勢が特異点にいるのでそれが原因か？？？ #46 (comment) robotuser@robotuser-PC:~/catkin_ws$ rosrun tork_moveit_tutorial duaro_moveit_tutorial_poses.py
[ INFO] [1649660361.503416964]: Loading robot model 'khi_duaro'...
[ INFO] [1649660361.505158212]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1649660361.817055325, 182.219000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/lower_arm/kinematics_solver_attempts' from your configuration.
[ WARN] [1649660361.849346309, 182.250000000]: IK plugin for group 'lower_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ WARN] [1649660361.860132301, 182.261000000]: IK plugin for group 'upper_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[INFO] [1649660361.883834, 0.000000]: Move Groups defined in the robot :
botharms
lower_arm
lower_arm_tool
upper_arm
upper_arm_tool
[ INFO] [1649660361.914424209, 182.314000000]: Loading robot model 'khi_duaro'...
[ INFO] [1649660361.914501433, 182.314000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1649660362.190964613, 182.581000000]: IK plugin for group 'lower_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ WARN] [1649660362.202976689, 182.591000000]: IK plugin for group 'upper_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1649660363.425721190, 183.778000000]: Ready to take commands for planning group upper_arm.
[INFO] [1649660363.426529, 0.000000]: Start Pose Target 1
[INFO] [1649660363.432055, 0.000000]: Set Target to Pose:
position:
x: 0.0
y: 0.55
z: 1.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
[ INFO] [1649660365.555810315, 185.842000000]: ABORTED: No motion plan found. No execution attempted.
[INFO] [1649660365.556170, 185.842000]: Start Pose Target 2
[INFO] [1649660365.559159, 185.843000]: Set Target to Pose:
position:
x: -0.55
y: -0.0
z: 1.05
orientation:
x: 0.0
y: 0.0
z: 0.707
w: 0.707
[ INFO] [1649660368.435966713, 188.623000000]: ABORTED: Timeout reached
robotuser@robotuser-PC:~/catkin_ws$ |
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gazebo duaro robot は起動時に一瞬ニュートラルポジションっぽい姿勢になるがその後特異点姿勢になってしまう． ＜起動数秒後の一瞬＞ ＜特異点姿勢（関節角度ゼロ？）＞ gazebo のターミナル出力では |
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myCobot は mycobot_moveit_tutorial_poses.py で意図したとおり動いているよう． |
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rtmros_nextage を debian パッケージインストールで利用時に
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#46 (comment) の不具合に対する修正・コミット・PR発行しました． |
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（メモ）
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ROS Melodic での動作状況 ＆ ToDo まとめ
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MINAS TRA1 について一応確認のため ROS Kinetic での debian パッケージ取得インストールで動作計画の実行確認をして正常動作しました．
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ROS Melodic で MINAS Tra1 をソースインストールで /opt/ros/melodic/ にインストールしたところ lib〜 のエラーは出なく正常に MoveIt で動作計画できました．
robotuser@robotuser-PC:~$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true
... logging to /home/robotuser/.ros/log/199423c6-bd4e-11ec-9a55-50eb713af63d/roslaunch-robotuser-PC-13902.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro.py is deprecated; please use xacro instead
started roslaunch server http://robotuser-PC:37277/
SUMMARY
========
PARAMETERS
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /main/joint1/home_encoder_offset: 0
* /main/joint1/max_motor_speed: 3000
* /main/joint1/max_torque: 1000
* /main/joint1/motor_working_range: 1
* /main/joint1/over_load_level: 0
* /main/joint1/over_speed_level: 0
* /main/joint1/torque_for_emergency_stop: 0
* /main/joint2/home_encoder_offset: 0
* /main/joint2/max_motor_speed: 3000
* /main/joint2/max_torque: 1000
* /main/joint2/motor_working_range: 1
* /main/joint2/over_load_level: 0
* /main/joint2/over_speed_level: 0
* /main/joint2/torque_for_emergency_stop: 0
* /main/joint3/home_encoder_offset: 0
* /main/joint3/max_motor_speed: 3000
* /main/joint3/max_torque: 1500
* /main/joint3/motor_working_range: 1
* /main/joint3/over_load_level: 0
* /main/joint3/over_speed_level: 0
* /main/joint3/torque_for_emergency_stop: 0
* /main/joint4/home_encoder_offset: 0
* /main/joint4/max_motor_speed: 3000
* /main/joint4/max_torque: 1000
* /main/joint4/motor_working_range: 1
* /main/joint4/over_load_level: 0
* /main/joint4/over_speed_level: 0
* /main/joint4/torque_for_emergency_stop: 0
* /main/joint5/home_encoder_offset: 0
* /main/joint5/max_motor_speed: 3000
* /main/joint5/max_torque: 1000
* /main/joint5/motor_working_range: 1
* /main/joint5/over_load_level: 0
* /main/joint5/over_speed_level: 0
* /main/joint5/torque_for_emergency_stop: 0
* /main/joint6/home_encoder_offset: 0
* /main/joint6/max_motor_speed: 3000
* /main/joint6/max_torque: 1000
* /main/joint6/motor_working_range: 1
* /main/joint6/over_load_level: 0
* /main/joint6/over_speed_level: 0
* /main/joint6/torque_for_emergency_stop: 0
* /position_trajectory_controller/action_monitor_rate: 20
* /position_trajectory_controller/constraints/goal_time: 2.0
* /position_trajectory_controller/constraints/joint1/goal: 0.2
* /position_trajectory_controller/constraints/joint1/trajectory: 0
* /position_trajectory_controller/constraints/joint2/goal: 0.2
* /position_trajectory_controller/constraints/joint2/trajectory: 0
* /position_trajectory_controller/constraints/joint3/goal: 0.2
* /position_trajectory_controller/constraints/joint3/trajectory: 0
* /position_trajectory_controller/constraints/joint4/goal: 0.2
* /position_trajectory_controller/constraints/joint4/trajectory: 0
* /position_trajectory_controller/constraints/joint5/goal: 0.2
* /position_trajectory_controller/constraints/joint5/trajectory: 0
* /position_trajectory_controller/constraints/joint6/goal: 0.2
* /position_trajectory_controller/constraints/joint6/trajectory: 0
* /position_trajectory_controller/constraints/stopped_velocity_tolerance: 0.1
* /position_trajectory_controller/joints: ['joint1', 'joint...
* /position_trajectory_controller/state_publish_rate: 50
* /position_trajectory_controller/type: position_controll...
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.13
NODES
/
controller_spawner (controller_manager/spawner)
main (minas_control/main)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
world_link_broadcaster (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [13916]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 199423c6-bd4e-11ec-9a55-50eb713af63d
process[rosout-1]: started with pid [13927]
started core service [/rosout]
process[main-2]: started with pid [13934]
process[world_link_broadcaster-3]: started with pid [13935]
Failed to lock memory. It is recommended to set permission to executables, for example: sudo setcap cap_net_raw,cap_ipc_lock=+ep main: Cannot allocate memory
[ WARN] [1650090368.550973222]: Continue running without mlockall
process[robot_state_publisher-4]: started with pid [13936]
[ INFO] [1650090368.555776533]: Minas Hardware Interface in simulation mode
process[controller_spawner-5]: started with pid [13945]
[ INFO] [1650090368.560941926]: ~joint1/torque_for_emergency_stop : 0
[ INFO] [1650090368.560972437]: ~joint1/over_load_level : 0
[ INFO] [1650090368.560987953]: ~joint1/over_speed_level : 0
[ INFO] [1650090368.561019528]: ~joint1/motor_working_range : 1
[ INFO] [1650090368.562435351]: ~joint1/max_motor_speed : 3000
[ INFO] [1650090368.562458413]: ~joint1/max_torque : 1000
[ INFO] [1650090368.563080569]: ~joint1/home_encoder_offset : 0
[ INFO] [1650090368.565864476]: ~joint2/torque_for_emergency_stop : 0
[ INFO] [1650090368.565888946]: ~joint2/over_load_level : 0
[ INFO] [1650090368.565897164]: ~joint2/over_speed_level : 0
[ INFO] [1650090368.565912025]: ~joint2/motor_working_range : 1
[ INFO] [1650090368.567676754]: ~joint2/max_motor_speed : 3000
[ INFO] [1650090368.567706881]: ~joint2/max_torque : 1000
[ INFO] [1650090368.568563797]: ~joint2/home_encoder_offset : 0
[ INFO] [1650090368.570966719]: ~joint3/torque_for_emergency_stop : 0
[ INFO] [1650090368.570994575]: ~joint3/over_load_level : 0
[ INFO] [1650090368.571007137]: ~joint3/over_speed_level : 0
[ INFO] [1650090368.571021281]: ~joint3/motor_working_range : 1
[ INFO] [1650090368.572322360]: ~joint3/max_motor_speed : 3000
[ INFO] [1650090368.572347689]: ~joint3/max_torque : 1500
[ INFO] [1650090368.573055864]: ~joint3/home_encoder_offset : 0
[ INFO] [1650090368.576302585]: ~joint4/torque_for_emergency_stop : 0
[ INFO] [1650090368.576327346]: ~joint4/over_load_level : 0
[ INFO] [1650090368.576338545]: ~joint4/over_speed_level : 0
[ INFO] [1650090368.576352466]: ~joint4/motor_working_range : 1
[ INFO] [1650090368.577775807]: ~joint4/max_motor_speed : 3000
[ INFO] [1650090368.577795113]: ~joint4/max_torque : 1000
[ INFO] [1650090368.578175077]: ~joint4/home_encoder_offset : 0
[ INFO] [1650090368.579583179]: ~joint5/torque_for_emergency_stop : 0
[ INFO] [1650090368.579602044]: ~joint5/over_load_level : 0
[ INFO] [1650090368.579612754]: ~joint5/over_speed_level : 0
[ INFO] [1650090368.579626780]: ~joint5/motor_working_range : 1
[ INFO] [1650090368.580360533]: ~joint5/max_motor_speed : 3000
[ INFO] [1650090368.580375492]: ~joint5/max_torque : 1000
[ INFO] [1650090368.580733054]: ~joint5/home_encoder_offset : 0
[ INFO] [1650090368.582048195]: ~joint6/torque_for_emergency_stop : 0
[ INFO] [1650090368.582062343]: ~joint6/over_load_level : 0
[ INFO] [1650090368.582070225]: ~joint6/over_speed_level : 0
[ INFO] [1650090368.582082858]: ~joint6/motor_working_range : 1
[ INFO] [1650090368.582864851]: ~joint6/max_motor_speed : 3000
[ INFO] [1650090368.582876736]: ~joint6/max_torque : 1000
[ INFO] [1650090368.583245329]: ~joint6/home_encoder_offset : 0
[WARN] [1650090368.872754]: DEPRECATION warning: --shutdown-timeout has no effect.
[INFO] [1650090368.874878]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1650090368.879417]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1650090368.883586]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1650090368.888410]: Loading controller: joint_state_controller
[INFO] [1650090368.901883]: Loading controller: position_trajectory_controller
[INFO] [1650090368.966645]: Controller Spawner: Loaded controllers: joint_state_controller, position_trajectory_controller
[INFO] [1650090368.970457]: Started controllers: joint_state_controller, position_trajectory_controller |
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私が勘違いしていました．→ #46 (comment) もともと ROS Melodic 版では MINAS Tra1 は「debian インストール」と「ソースインストール」の2つの方法のみの案内でしたので「ソースビルド利用」の案内はありませんでした． よって，MINAS Tra1 の ROS Melodic 版の debian パッケージが無い状況なので次のどちらかの措置を行えば良いという状況です．
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duaRo が ROS Melodic の Gazebo シミュレータで初期姿勢に入らなかった件はエラーメッセージに対応した修正を行うことで初期姿勢に入るようになり特異点でない初期姿勢から始められるようになり動作計画も失敗しなくなった模様です． ＜変更点＞
＜関連コメント＞ |
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duaRo の初期姿勢に入らない件に対する修正の PR を出しました． |
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#46 (comment) について |
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#46 (comment) 違った． |
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結局良い構成や文言が思い浮かばなかったので次の内容で PR #59 を出しました．
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