Release nao Gazebo plugin V0.0.2

[marg...@aldebaran-robotics.com]

Hi everyone,

I'm glad to announce that we released this weekend the first version of nao_gazebo_plugin package and nao_description accordingly. (available on ros-shadow-fixed repo).
You can see a quick tutorial here

Current state of development:

* What is implemented and tuned:
  - PID for every joint of NAO robot
  - ros controllers forkinematic chain of the NAO robot (working with nao_moveit_config package).
  - 2D cameras
  - sonars

* What needs some tuning:
  - 3D camera (if your nao wears a helmet with an Xtion 3D sensor)
  - Contact sensors : tactiles and bumpers (unable to load the plugin right now)

* What needs to be fixed/improved:
  - The hands are not well recognized by gazebo, the values returned have nothing to do with the model supplied
  - The sonar plugin doesn't take into account the robot namespace for output topics
  - The is still oscillating a tiny bit while standing: find a way to set stiffness in Gazebo: stiffness controller ?

Please feel free to comment, suggest, report bugs and make pull request about this package. There is a lot to do, and thanks to your feedbacks we will be able to prioritize and share development.

Thanks Konstantinos for your work on this project !

Best,

Mikael

[Igor Rodriguez]

Hi Mikael,

I need your help. I'm trying to launch nao_gazebo_plugin but I don get it working. I have installed all plugins required (roboticsgroup and pal-robotics plugins) and when I run the launch program, gazebo starts with NAO on a robocup field. All seems to be good, but when I run moveit and execute a joint path planner I can't see the execution movements reflected in gazebo.
As I can see in your post the /nao_dcm controllers should be loaded (ROS_INFO ... Controller Spawner: Loaded controllers: /nao_dcm/Head...). Instead I get the next messages:

Msg Waiting for master./opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
[ INFO] [1414659807.401559214]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[1;[ INFO] [1414659807.403737855]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
32mMsg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.2.217
process[spawn_urdf-6]: started with pid [12321]
[INFO] [WallTime: 1414659807.684999] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.2.217
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
[spawn_urdf-6] process has finished cleanly
log file: /home/bee/.ros/log/9b5465c4-6013-11e4-8b6d-24ec9971aa68/spawn_urdf-6*.log
[WARN] [WallTime: 1414659837.688032] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.
[nao_dcm/nao_trajectory_controller-4] process has finished cleanly
log file: /home/bee/.ros/log/9b5465c4-6013-11e4-8b6d-24ec9971aa68/nao_dcm-nao_trajectory_controller-4*.log

Do you know why I can't conect to nao_dcm?

Thanks.

Best regards,

Igor

[Mikael ARGUEDAS]

Hi Igor,

Did you install everything from source or from debian packages ?

When you click on the play button of gazebo, does your robot fall on the ground ? stands up ? stands up but the arms oscillate before stabilizing ?

You're using ROS Indigo with Gazebo 2.2.3 on a linux 32bits is that right ?

Can you verify that your ros-indigo-ros-control ros-indigo-ros-controllers and ros-indigo-gazebo* are up to date ?

I already had this error once and I solved it by updating all the ros gazebo packages and adding hardware interface two times in the naoTransmission.xacro file. (but it's donee upstream so you shouldn't have to modify it)

Example :

<transmission name="HeadYaw_Transmission">

<type>transmission_interface/SimpleTransmission</type>

<joint name="HeadYaw">

<hardwareInterface>PositionJointInterface</hardwareInterface>

</joint>

<actuator name="HeadYaw_Motor">

<hardwareInterface>PositionJointInterface</hardwareInterface>

<mechanicalReduction>${speed_red_type3A}</mechanicalReduction>

</actuator>

</transmission> Hope this will give you leads to solve your problem. Please keep me updated. Cheers, Mikael

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Mikael Arguedas

Software engineering intern

Perception Team
Aldebaran

43 rue du Colonel Pierre Avia
75015 PARIS

[Igor Rodriguez]

Hi Mikael,

First of all thanks for your quick response.

Hi Igor,

Did you install everything from source or from debian packages ?

I tryied to run it intwo diferentways:
1 - Installing from ros ros-indigo-nao-gazebo-plugin ros-indigo-nao-control ros-indigo-nao-description and downloading to my workspace the other plugins required and mentioned previously.
2- Downloading the source code of ros-indigo-nao-gazebo-plugin ros-indigo-nao-control ros-indigo-nao-description to my workspace
 

When you click on the play button of gazebo, does your robot fall on the ground ? stands up ? stands up but the arms oscillate before stabilizing ?

You're using ROS Indigo with Gazebo 2.2.3 on a linux 32bits is that right ?

When I click in the play button of gazebo the robot falls onthe ground. I'm using ROS Indigo with Gazebo 2.2.3 on linux 64bits. Exists any problem with 64bits architecture?
 

Can you verify that your ros-indigo-ros-control ros-indigo-ros-controllers and ros-indigo-gazebo* are up to date ?

I have installed the packages this morning so I suppose that they are updated
 
Best

Igor

[Mikael ARGUEDAS]

Hi,

I assume that you had the same result with the packages from ros repo and from github.

There is no issues on 64bits version, I never tried the package on a 32bits so I was wondering if this might be the issue. The only log which is different from mines is this one : 32mMsg Connected to gazebo master @ http://127.0.0.1:11345.  I don't have the "32m" so I was thinking about a 32bits issue.

I just tried everything in a brand new workspace and compiled everything from source (nao_robot, nao_virtual, roboticgroups_gazebo_plugins, pal_msgs, pal_gazebo plugins) and I cannot reproduce the issue :s I don't get why the libgazebo_ros_control.so is not recognized on your side. Everything seems to be configured correctly.

Can you try an example from the gazebo website like : https://github.com/ros-simulation/gazebo_ros_demos and see if you have the same issues ?
I'll try the same on my side and let you know if I find anything.

Best,

Mikael

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[Mikael ARGUEDAS]

ok on the rrbot example there is an error of hardware interface...

so try to:

git clone g...@github.com:ros-simulation/gazebo_ros_demos.git

catkin_make

the edit rrbot_description/rrbot.xacro

add an hardware interface element in every transmission/joint element.

example:
 <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

Then test it :

in one terminal

roslaunch rrbot_gazebo rrbot_world.launch

in another terminal
roslaunch rrbot_control rrbot_control.launch

finally try to call the list_controllers service in another terminal :
rosservice call /rrbot/controller_manager/list_controllers

you should have an output like this:
controller:
  -
    name: joint_state_controller
    state: running
    type: joint_state_controller/JointStateController
    hardware_interface: hardware_interface::JointStateInterface
    resources: []
  -
    name: joint1_position_controller
    state: running
    type: effort_controllers/JointPositionController
    hardware_interface: hardware_interface::EffortJointInterface
    resources: ['joint1']
  -
    name: joint2_position_controller
    state: running
    type: effort_controllers/JointPositionController
    hardware_interface: hardware_interface::EffortJointInterface
    resources: ['joint2']

Hope this will help you find where the bug is hiding ;)

Cheers,

Mikael

[Igor Rodriguez]

Hi,

I have downloaded from git gazebo_ros_demos and when I run it I get the next:

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1414678266.864876415]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1414678266.866063470]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.2.217

spawn_model script started
[INFO] [WallTime: 1414678267.145063] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1414678267.148306] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1414678267.369800913, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [WallTime: 1414678267.455797] [0.102000] Calling service /gazebo/spawn_urdf_model
[ INFO] [1414678267.480982835, 0.127000000]: Physics dynamic reconfigure ready.

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.2.217

[ INFO] [1414678267.915051538, 0.215000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1414678267.963094784, 0.215000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
[ INFO] [1414678268.018740352, 0.215000000]: Laser Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
[ INFO] [1414678268.018897160, 0.215000000]: Starting GazeboRosLaser Plugin (ns = /)!
[INFO] [WallTime: 1414678268.020315] [0.215000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1414678268.037168464, 0.215000000]: GPU Laser Plugin (ns = /) <tf_prefix_>, set to ""
[ INFO] [1414678268.037519016, 0.215000000]: Loading gazebo_ros_control plugin
[ INFO] [1414678268.037716826, 0.215000000]: Starting gazebo_ros_control plugin in namespace: /rrbot
[ INFO] [1414678268.039231149, 0.215000000]: LoadThread function completed
[ INFO] [1414678268.040540076, 0.215000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1414678268.147283258, 0.215000000]: No valid hardware interface element found in joint 'joint1'.
[ERROR] [1414678268.147400959, 0.215000000]: Failed to load joints for transmission 'tran1'.
[ERROR] [1414678268.147744664, 0.215000000]: No valid hardware interface element found in joint 'joint2'.
[ERROR] [1414678268.147945704, 0.215000000]: Failed to load joints for transmission 'tran2'.
[ INFO] [1414678268.348077126, 0.215000000]: Loaded gazebo_ros_control.

Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]

[urdf_spawner-4] process has finished cleanly
log file: /home/bee/.ros/log/9633307c-603e-11e4-acbc-24ec9971aa68/urdf_spawner-4*.log


The "robot" starts in stand position and after few seconds it falls down... I don't know if it is normal or not, or what should be happen...

Thanks

Igor

[Mikael ARGUEDAS]

No it shouldn't fall down, it should stand. As you can see on your log (ERROR) it didn't recognized the hardware interface allowing the controller to send command to the joint. Because of that the controller cannot be loaded and cannot prevent the 'arm' from falling.

Can you try the following commands ?and send me the logs ?

1) Copy the attached file (rrbot.xacro) in rrbot_description/

2) Open three terminals sourced on your workspace (source ~/YOUR_WORKSPACE_NAME/devel/setup.bash)

3) roslaunch rrbot_gazebo rrbot_world.launch
4) roslaunch rrbot_control rrbot_control.launch
5) rosservice call /rrbot/controller_manager/list_controllers

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[Igor Rodriguez]

Hi Mikael,

attached to this message there are the three logs. One for each command.

Igor

[Igor Rodriguez]

Hi Mikael,

Atached to this message you have the log of each command tha you proposed in the last message.

Thanks

[Mikael ARGUEDAS]

Ok so this can ba only one thing. Your ros-control and ros-controller packages are not up to date. Your gazebo cannot recognize a single type of controller (cf errors below). Did you try the suggestion of the log ? "Use 'rosservice call controller_manager/list_controller_types' to get the available types."

I cannot really help you in this matter. Try to follow the log instructions and to update your ros-controller packages. If you cannot solve it ask on gazebosim answers website. Once you get this example working, running nao_gazebo plugin should be straight forward.

[31m[ERROR] [1414684306.823069892, 19.502000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist. [0m
[31m[ERROR] [1414684306.823240610, 19.503000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [0m
[31m[ERROR] [1414684307.832745919, 20.495000000]: Could not load controller 'joint1_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist. [0m
[31m[ERROR] [1414684307.832859641, 20.495000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types [0m
[31m[ERROR] [1414684308.839391599, 21.489000000]: Could not load controller 'joint2_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist. [0m
[31m[ERROR] [1414684308.839522772, 21.489000000]: Use 'rosservice call controller_manag

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[Igor Rodriguez]

How can update those packages? what I am doing is the next:

sudo apt-get install ros-indigo-controller-* and sudo apt-get install ros-indigo-control*

Sorry if it seems a stupid cuestion...

[Igor Rodriguez]

Now when I launch roslaunch rrbot_gazebo rrbot_world.launch, all seems to start ok. But when I launch roslaunch rrbot_control rrbot_control.launch I got this:

ERROR: cannot launch node of type [controller_manager/spawner]: can't locate node [spawner] in package [controller_manager]
 
And whe I run  rosservice call /rrbot/controller_manager/list_controllers the response is: controller: []

[Mikael ARGUEDAS]

Ok that's goot news we're making progress.

It seems that it's the controller manager which is not installed. did you try something like sudo apt-get install ros-indigo-control* ? This should solve your problem.

Best,

Mikael

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[Igor Rodriguez]

Hi Mikael,

Ok that's goot news we're making progress.

It seems that it's the controller manager which is not installed. did you try something like sudo apt-get install ros-indigo-control* ? This should solve your problem.

I have solved this problem. The problem was that when I launch roslaunch rrbot_control rrbot_control.launch it was trying to find spawner node in /opt/ros/indigo/share/controller_manager but the spawner node was in /opt/ros/indigo/lib/controller_manager/

Now the log is different, I got a different errors:

[INFO] [WallTime: 1414747938.991546] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1414747938.992251] [0.000000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1414747938.992897] [0.000000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1414747938.993544] [0.000000] Loading controller: joint_state_controller
[ERROR] [WallTime: 1414747939.996558] [0.000000] Failed to load joint_state_controller
[INFO] [WallTime: 1414747939.996778] [0.000000] Loading controller: joint1_position_controller
[ERROR] [WallTime: 1414747940.998932] [0.000000] Failed to load joint1_position_controller
[INFO] [WallTime: 1414747940.999245] [0.000000] Loading controller: joint2_position_controller
[ERROR] [WallTime: 1414747942.004801] [0.000000] Failed to load joint2_position_controller
[INFO] [WallTime: 1414747942.005408] [0.000000] Controller Spawner: Loaded controllers:


Any idea?

Thanks

[Mikael ARGUEDAS]

Hi,

It seems that you're not the first one to face this issue. Your controller manager still seems to not be working as expected.

Maybe you can try to have a look to answers.ros.com or answers.gazebosim.com
http://answers.ros.org/question/154166/ros-gazebo-failed-to-load-joint_state_controller/

You can check if the controller manager is well instanciated (rosservice list).

I've never experienced this issue so everything from yesterday is based on guesses.

Hope you'll figure it out.

Cheers,
Mikael

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[Igor Rodriguez]

Hi Mikael,

I solve it following your link. Thanks! Now I have working gazebo with NAO!

I have another cuestion for you. Do you know if Arming packages (nao_robot metapakage) are working with nao_gazebo_plugin? I have developed several packages for a real NAO with ROS, and now I want to get it working with a simulated NAO. I got it working with Webots but I need the same working with gazebo. When I am working with Webots, I run it and then I launch nao simulator launch from nao_bringup package and everything works properly. But when I try the same with nao gazebo plugin it does'nt work. Any idea?

Thank again,

Igor

[Mikael ARGUEDAS]

Hi,

Cool, glad you finally made it. What was the problem in the end ? maybe we could add a note to the readme of nao_gazebo_plugin to avoid that other people encounter the same problem. Was it a dependency issue ?

Yes for now gazebo is not interfaced with NAOqi except the ros controllers thanks to Konstantinos. Konstantinos is currentlyu developping the plugin to connect gazebo to Simulator SDK which is the entry point Webots uses. I'm currently adding all the sensor plugin needed to have a full nao in Gazebo. What kind of node did you develop ? are you moving the robot ? processing sensor data ? both ?

There will be an announcement on the SIG as soon as the interface with NAOqi is available.

Cheers,

Mikael

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[Igor Rodriguez]

Hi,asdsadsa

Cool, glad you finally made it. What was the problem in the end ? maybe we could add a note to the readme of nao_gazebo_plugin to avoid that other people encounter the same problem. Was it a dependency issue ?

The dependency issue was in ros-indigo-ros-control and ros-indigo-ros-controllers packages. I don't remember if I had those packages installed, but after reinstalled the packages ( automatically were installed another required) I got all working properly.
 

Yes for now gazebo is not interfaced with NAOqi except the ros controllers thanks to Konstantinos. Konstantinos is currentlyu developping the plugin to connect gazebo to Simulator SDK which is the entry point Webots uses. I'm currently adding all the sensor plugin needed to have a full nao in Gazebo. What kind of node did you develop ? are you moving the robot ? processing sensor data ? both ?

Yes I have developed yo teleoperation systems to control nao: one based on gestures with the Kinect, and another one based on speech commands in my native language (Euskara, from Basque Country)
 

There will be an announcement on the SIG as soon as the interface with NAOqi is available.

OK. I have recently found the SIG Google group and since then I follow it every day.

I would like thank you for the great work that are you doing and thanks for your patience.

Best regards,

Igor

[Stephan Opfer]

Hi,

when I launch (roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch) your project I get
[ INFO] [1415563816.172261117]: imu plugin missing <serviceName>, defaults to /default_imu
[ INFO] [1415563816.172334296]: imu plugin missing <xyzOffset>, defaults to 0s
[ INFO] [1415563816.172371583]: imu plugin missing <rpyOffset>, defaults to 0s
[FATAL] [1415563816.172655883]: gazebo_ros_imu plugin error: bodyName: imu does not exist

Do you have an idea, so solve this problem?

Furthermore, I dont get a football field, but a Gas Station ...

Greetings,
  Stephan

[Mikael ARGUEDAS]

Hi Stephan,

I think that there are two different issues. The first one is that you seem to be using nao_gazebo_plugin version 0.0.1 and not 0.0.2. It has not been updated to the official repos rest, it's only available on ros-shadow-fixed repos (or github of course).

And for the error message regarding imu plugin, this is also because youre using nao_description 0.4.0 and not 0.5.0.

So if you update your packages you should solve both these issues.

Cheers,

Mikael

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[Stephan Opfer]

HI Mikael,

I think, I am almost there. I checked it out from github and now I get the soccerfield and can press play and the robot stands. Problems is see now:

1) The fingers are a little bit jittering. When I lift the NAO and let him fall down, he falls on his forward pointing arms/fingers and starts moving because of these jitters in the fingers. Is that ok?

2) I get the following error:
[INFO] [WallTime: 1415953408.281844] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller

Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]

3) I still get the IMU error :
[FATAL] [1415953411.327091511]: gazebo_ros_imu plugin error: bodyName: imu does not exist

4) Nevertheless, everything seems to work. So I started the MoveIt! Tutorial. When I start to execute a planned path (clicking execute), I get the following error:
[ INFO] [1415953823.917778901, 266.872000000]: Received new trajectory execution service request...
[ERROR] [1415953823.917858555, 266.872000000]: Unable to identify any set of controllers that can actuate the specified joints: [ LElbowRoll LElbowYaw LShoulderPitch LShoulderRoll LWristYaw ]
[ERROR] [1415953823.917908966, 266.872000000]: Known controllers and their joints:

So if 1-3 are ok, I just need to know what the problem with my controllers are. Wasn't there a command to list all available controllers?

Greetings,
  Stephan

p.s.: When I am done with this, you will get a more comprehensive introduction, to install all this stuff. Maybe you can update the description of the packages based on this description.

[Mikael ARGUEDAS]

Hi Stephan,

1) It's "normal" that the finger are not stable, I never succeeded to fix it I don't know if it's a matter of gazebo version or of coupled joints misunderstood by gazebo.

2) The two errors are normal you should have the same on the Gazebo examples.

3) Ok for the IMU I jsut checked it's a problem on the repo, I didn't implemented IMU yet because their official plugin returned weird valu. You can comment the imu part in nao_description/urdf/naoV40_generated_urdf/naoGazebo.xacro and comment out lines 77 to 90. On monday I'll push the new version with the sensor and this error will disappear.

4) There is indeed a command to list all the loaded controllers, this should be something like rosservice call /controller_manager/list_controllers (you can check the exact syntax by runnin rosservice list before).

Can you try to move only the Head of your robot with MoveIt! or only the group "left_arm" and not left_arm_hand?
I think that your controllers are successfully loaded but that moveit has to send commands to 2 different controllers to control the arm + the hand. Maybe that is wat makes it crash.

Thanks for the feedback.

Mikael

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[Konstantinos Chatzilygeroudis]

There are some bugs in the controller configuration files (yaml and srdf files in nao_control and nao_moveit_config). I have already detected them, but haven't been able to find time to solve them yet. One more issue (other the one that Stephan mentions - haven't tested it) is that when assigning a trajectory to right_leg it cannot be executed due to the fact that the controller configuration uses RHipYaw_Pitch joint which is a mimic/virtual joint. I will try to make a PR asap.

[Stephan Opfer]

Hi all,

I checked the loaded controllers:

$rosservice call /nao_dcm/controller_manager/list_controllers "{}"
controller:
  -
    name: /nao_dcm/Head_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['HeadPitch', 'HeadYaw']
  -
    name: /nao_dcm/RightArm_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['RElbowRoll', 'RElbowYaw', 'RShoulderPitch', 'RShoulderRoll']
  -
    name: /nao_dcm/LeftArm_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['LElbowRoll', 'LElbowYaw', 'LShoulderPitch', 'LShoulderRoll']
  -
    name: /nao_dcm/LeftLeg_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['LHipPitch', 'LHipRoll', 'LKneePitch']
  -
    name: /nao_dcm/RightLeg_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['RHipPitch', 'RHipRoll', 'RKneePitch']
  -
    name: /nao_dcm/RightHand_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['RHand', 'RWristYaw']
  -
    name: /nao_dcm/LeftHand_controller
    state: running
    type: position_controllers/JointTrajectoryController
    hardware_interface: hardware_interface::PositionJointInterface
    resources: ['LHand', 'LWristYaw']
  -
    name: /nao_dcm/joint_state_controller

    state: running
    type: joint_state_controller/JointStateController
    hardware_interface: hardware_interface::JointStateInterface
    resources: []

And then I tried to move the Head only, but the output in the MoveIt!-Console says:
[ INFO] [1416211509.687425820, 452.500000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1416211509.692672832, 452.504000000]: RRTConnect: Starting with 1 states
[ INFO] [1416211509.717518871, 452.526000000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1416211509.717598055, 452.526000000]: Solution found in 0.026328 seconds
[ INFO] [1416211509.722497357, 452.532000000]: Path simplification took 0.004821 seconds
[ INFO] [1416211512.024600363, 454.695000000]: Received new trajectory execution service request...
[ERROR] [1416211512.024641969, 454.695000000]: Unable to identify any set of controllers that can actuate the specified joints: [ HeadPitch HeadYaw ]
[ERROR] [1416211512.024660167, 454.695000000]: Known controllers and their joints:

The last line, says that it does not know any controllers, although the requiered joints (HeadPitch HeadYaw) are up, according to the listed controllers. Any clue? :)

Greetings,
  Stephan

[Stephan Opfer]

Hi all,

just one minor remark: I get the same error message about the controllers, when I follow the tutorial on this page for a real NAO.

Greetins,
  Stephan

[Mikael ARGUEDAS]

Ok so that's a problem of moveit not recognizing ros-controllers, it's not a matter of ros controller nor gazebo.

I couldn't reproduce the issue, I think you're missing some moveit packages

can you try to run:

 sudo apt-get install ros-indigo-moveit-simple-controller-manager

I've all the ros-indigo-moveit* packages install so I'm not sure that this is the one your missing. Otherwise you can install them all on your computer to check if this is where your error come from.

I'll let you know if I find anything else that might be the cause.

Hope this helps,

Mikael

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[Mikael ARGUEDAS]

I checked, this is the only one missing dependency. I'll update the package.xml.
So please just run  sudo apt-get install ros-indigo-moveit-simple-controller-manager and moveit should work with the ros controllers.

Regards,

Mikael

[Avinash Ranganath]

Hey Mikael,

  Thanks for the package. I have the following questions,
  (I am new to ROS and NAO, so please bear with me)

1. Is there a service to fetch the joint angles, or is there a plan to include it into the package?
2. Is there a service to fetch the accelerometer, gyro and pressure sensor data?

Thank You,
Avinash

On Monday, October 27, 2014 2:40:24 PM UTC+1, marg...@aldebaran-robotics.com wrote:

Hi everyone,

I'm glad to announce that we released this weekend the first version of nao_gazebo_plugin package and nao_description accordingly. (available on ros-shadow-fixed repo).
You can see a quick tutorial here

Current state of development:

* What is implemented and tuned:
  - PID for every joint of NAO robot
  - ros controllers forkinematic chain of the NAO robot (working with nao_moveit_config package).
  - 2D cameras
  - sonars

* What needs some tuning:
  - 3D camera (if your nao wears a helmet with an Xtion 3D sensor)
  - Contact sensors : tactiles and bumpers (unable to load the plugin right now)

* What needs to be fixed/improved:
  - The hands are not well recognized by gazebo, the values returned have nothing to do with the model supplied
  - The sonar plugin doesn't take into account the robot namespace for output topics
  - The is still oscillating a tiny bit while standing: find a way to set stiffness in Gazebo: stiffness controller ?

Please feel free to comment, suggest, report bugs and make pull request about this package. There is a lot to do, and thanks to your feedbacks we will be able to prioritize and share development.

Thanks Konstantinos for your work on this project !

Best,

Mikael

[Mikael ARGUEDAS]

Hi,

1. All the joint_states should be available by echoing the topic /nao_dcm/joint_states (rostopic echo /nao_dcm/joint_state)

2. Unfortunately I tried to use the official gazebo plugins to simulates all the sensors but I add some trouble to make it work :

 - force and contact sensors : forf some reasons the plugin crashes and I cannot launch gazebo

 - IMU : I get some really weird values so I decided not to use it

I was supposed to develop our own plugins for these sensors but I didn't have time to do it so for now you cannot fetch any of these data.

The current version of nao_description package doesn't even implement the 2Dcameras, 3D camera and sonar plugins but a release in the next few days will allow you to get these data via rostopics. If you want to know what is published by gazebo you can see it in Topic visualization window in Gazebo, you can open it by hitting Ctrl+T or Window/Topic Visualization.

Hope this helps.

There will be an anounce on this SIG when the missing features are implemented.

Cheers,
Mikael

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[Sam Pfeiffer]

I don't know if this is the best thread to post it, but here I go.

I tried to play with Nao simulation on Gazebo and got stuck after correctly loading (most of) the Nao model in Gazebo but without controllers.

I made a rosinstall file to get a workspace with everything needed (with some instructions), it's in this PR:

https://github.com/ros-naoqi/nao_virtual/pull/4

Maybe it's useful for someone else. It seems there is a problem with the hands loading in the model. And then controllers are not starting. I haven't looked into it, but maybe it's a matter of configuring something correctly.

[Mikael ARGUEDAS]

Hi Sam,

Indeed the package is broken for almost a week now, this is because of the update of nao_description urdf files. I fixed it this morning, I'm currently running tests and you should be able to run it this afternoon.

Thanks for your contribution and bug tracking on the various ros-naoqi packages. Your feedback is really appreciated!

Cheers,
Mikael

PS: about the launchfile I'm not against giving a launchfile for the empty_world. It would be only one parameter that changes so I'm not sure that a specific launchfile for that is needed. If people on the SIG can tell us what is their opinion about it it would be great.

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Perception Team
Aldebaran

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[Sam Pfeiffer]

Nice! Ping the thread when it's working again :)

About the launchfile, well, the one currently in there tries to load stuff (that blocks until it fails) that does not work. And just to test the robot a world is not really needed. 

It's a matter of discussing it, but I think it feels normal to have an empty world launcher and if there are specifical needs (like using it for the robocup) another launcher for that, maybe not in the main package as you probably want more things when launching that robocup world.

P.S.: What a fast answer!

[marg...@aldebaran-robotics.com]

Regarding the meshes errors, this has been fixed a few days ago. It's also because of the update of nao_description.

The new version is released on shadow-fixed and will be synchronized soon on ros official repos. It's the same for all moveit packages, and naoqi_XX packages.

[Mikael ARGUEDAS]

Yes you're right for the launchfile, it makes sense. Maybe it crashes because the objects used in the naoFoot.world have never been used in a gazebo world on your computer. And Gazebo might have some issues loading them from Gazebo official database. that's the only reason I see.

I'll merge your pull request and put more explicit names to them ;)

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[Avinash Ranganath]

Hey Mikael,

  Any updates on this?

Thanks in advance.
Avinash

[Mikael Arguedas]

Hay,

Sorry I didn't have time to work on this project recently.
I don't think that anybody else implemented new sensors in the Gazebo simulation of Nao. Konstantinos maybe ?

You should be able to add pressure and bumper quite easily following this http://answers.ros.org/question/29158/how-do-i-use-force-sensor-bumper-sensor-in-gazebo/
I know that the IMU sensor plugin had weird behaviour (axis inverted and so) but I don't know if this has been fixed since.

Good luck and feel free to do pull requests on the model if you want to add sensors to the current gazebo file.

Thanks for your interest,
Mikael

[Avinash Ranganath]

Alright, thanks.

On a different note. I am trying to write a plugin for joint angle sensor. As you had previously mentioned, I am able to fetch the joint angles by echoing the topic /nao_dcm/joint_states on the terminal. But, I don't see a service for making a request to fetch all the joint angles via the message sensor_msgs/JointState.msg. Any idea how to go about this?

Thanks,
Avinash

[Mikael Arguedas]

Hi,

No I haven't thought about it. I've never seen anyone needing these information from a request to a service. Everybody seems to use the standard joint_state_publisher and subscribt to /joint_states.

You can see how gazebo advertise services in this package: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/hydro-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp

Hope this helps,

Regards,
Mikael

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[Avinash Ranganath]

Hey Mike,

  My previous question was a newbie one. I figured it out eventually. But thanks for the reply.

  I was trying to visualise nao's camera data via Gazebo's Window/Topic Visualization tool, and found out that the robot model is invisible to the camera. I tried to capture the robot's hand by moving the hand very close to the cameras, and you can see the result in the attached screen shot. Is this a bug?

Thanks You,
Avinash

[Mikael Arguedas]

You're right, I've never noticed that before! 

Must be a bug in gazebo. What is weird is that if you change lightning, the shading on the meshes varies. That means that they are well reflecting light. So they should be seen by the camera. 

I've never tested that before, I always checked the camera images according to the objects in the world but not the robot.

It worth investigate. I'm sure someone have experienced the same issue in Gazebo.I'll look into if I have time.

Thank you for the feedback! Hope this doesn't prevent you to go on with your work.

Cheers,

Mikael

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[Mikael Arguedas]

Hi,

Regarding the inability of NAO of seeing itself, it was just a matter of threshold provided to the camera plugin (in naoGazebo.xacro). Here the threshold is 0.3 meters so nao can barely see is feet.

You can change it to any value regarding your application.

Regards,
Mikael

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[Avinash Ranganath]

Hi,

  Thanks for the update.

  The robot in the football simulation, even while all its joints are constant, seems to slide and move a lot in the 2D plane. I tried changing the following 'friction' parameter values in the file naoFoot.world, but without any success,

27            <friction>
28              <ode>
29                <mu>100</mu>
30                <mu2>50</mu2>
31              </ode>
32            </friction>
                       .
                       .
                       .
94            <friction>
95              <ode>
96                <mu>100</mu>
97                <mu2>50</mu2>
98              </ode>
99            </friction>

  Any suggestions?

Thank You,
Avinash Ranganath

[Mikael Arguedas]

Hi,

I'm trying to figure that out because it wasn't the case a few months ago and I cannot find what has changed since then.

The joints are oscillating a bit but it's very low compared to the motion observed.

If you display the contacts, we can see that there are almost no contacts on the back of the feet. Maybe this has influence on the drifting observed.

But I honestly don't know where does that come from. I browsed a bit gazebo answers but didn't find conclusive lead to explore.

Sorry,

Mikael

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[Konstantinos Chatzilygeroudis]

I noticed the vibrations too. Haven't found anything yet..I will let you know if I find something..

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[Mikael Arguedas]

If we don't find anything conclusive during the next weeks, I think that we should ask for help on gazebo answers. They seem prety reactive these days, They could give us some hints.

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[Konstantinos Chatzilygeroudis]

I believe it has to do more with how we are modeling NAO (pids, contact coefficients, motor specs e.t.c.) and less with Gazebo..

[Mikael Arguedas]

Yes, on the real NAO, if the joint position is closed to the desired one, the stiffness is set and the robot doesn't try to get closer to the command value. PIDs always control so we end up oscillating around the command value. The sum of the oscillations over all the joints might be the main reason of this weird behaviour.

Regarding the contacts, that's why I would like to ask because I don't know if we declare them properly and if there is a good way to tune them.

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[Konstantinos Chatzilygeroudis]

Having recently tried real time control (something like PID) on a real NAO, I have to say that if the joint readings are accurate the oscillations should almost not be there. And Gazebo simulates PID control extremely accurately. The only problem regarding the PID I assume are the PID gains which we sniffed and do not know the proper values..

[Mikael Arguedas]

the drifting of nao was due to a mistake on l_ankle link properties i nthe gazebo tags.
It's fixed now, We are back on the behaviour we had in december.
This doesn't mean that the tuning of the PID is perfect but at least the robot stands as it should be.

[Mach Free]

I am having the problem when I launch (roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch)

Nao spawns, but it starts to jitter, moving slowly backward.

I am using Ubuntu 16.04 indigo gazebo 2.26 

when I launch I do not get any errors, however, this kind of jittering occurs even when I launch Pepper and Romeo.

The only clue so far is the answer you have written here. 

Any advice would be very much appreciated.

2015년 3월 1일 일요일 오후 1시 28분 44초 UTC+9, Mikael Arguedas 님의 말: