pr2 fetches drink demo on gazebo

[furushchev]

working pr2.launch level

• some dependencies not installed => pr2_gazebo.launchの依存パッケージ jsk_robot#512
• segfault tilt_shadow_filter => add check inf or nan of input laser_scan intensities ros-perception/laser_filters#27 => fix: segfault on accessing out of index at histogram array ros-perception/laser_filters#34
• segfault move_base => [jsk_pr2_startup/jsk_pr2_move_base] split global_costmap_params for avoiding segfault jsk_robot#513
• kinect depth confusion => [pr2_description] modify depth topic name of kinect_prosilica_camera PR2/pr2_common#243
• wrong direction of pr2 projector => projected pattern from projector in gazebo hydro appears backwards 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_pr2_startup] add initial pose publisher for gazebo jsk_robot#517
• cannot move base => [jsk_pr2_startup/pr2_gazebo.launch] fix: disable launch only for real robot; avoid check_cable on gazebo jsk_robot#515

working demo launch level

• different between real world and model => [models] update 73b2 scene euslisp/EusLisp#154 (seems easier to change model than change real world)
• wrong direction of table leg => private
• texture on fridge => [eusurdf] add textured_models jsk_model_tools#161
• fridge is exploded => [eusurdf] add textured_models jsk_model_tools#161
• cannot open door => [eusurdf] add textured_models jsk_model_tools#161
• pr2 grasping is too slow => Gazebo PR2's grasp speed is different with Real PR2 even when sending same goal PR2/pr2_common#245
• pr2 gripper action does not return results => [jsk_pr2_startup/pr2_gazebo.launch] update gazebo real robot compatibility jsk_robot#519, increase gripper_controller/gripper_action_node/stall_velocity_threshold PR2/pr2_simulator#115
• no coffee can model => [models] add georgia emerald mountain euslisp/EusLisp#155, [models] add wanda euslisp/EusLisp#157
• no tea pack model => [models] add iemon euslisp/EusLisp#156
• no hamburger model => [models] add mac burger box model euslisp/EusLisp#158
• ignore transparency of inner shelves in fridge on gazebo => [detect_cans_in_fridge_201202/detect_cans] add plane extraction for fridge inner shelf substraction #1154
• kinect depth image is not organized => [gazebo_plugins] Publish organized point cloud from openni_kinect plugin ros-simulation/gazebo_ros_pkgs#373
• no demo launch file => [detect_cans_in_fridge_201202/launch/gazebo_startup.launch] add launch file for gazebo #1155

[aginika]

jsk-ros-pkg/jsk_3rdparty#11 ?
ros-perception/laser_filters#27 ?

[aginika]

rgb -> bgr problem
PR2/pr2_common#244

[aginika]

Depth name problem
PR2/pr2_common#243

[furushchev]

@aginika ありがとう

[aginika]

euslisp/EusLisp#126

[aginika]

@furushchev tilit_shadow_filter didn't fail...

[aginika]

export ROBOT=sim
roslaunch jsk_pr2_startup pr2_gazebo_73b2.launch

I executed above command. Is there any other thing to do?

[furushchev]

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

[furushchev]

@aginika https://github.com/furushchev/fridge これです。

[furushchev]

• 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

[furushchev]

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。

[aginika]

• Prepare the node which will set the initial pose for amcl

[aginika]

• remove this
  

[aginika]

• pr2 grasp is slow
  Gazebo PR2's grasp speed is different with Real PR2 even when sending same goal 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.

[furushchev]

• pr2のstart-graspが終わらない

[aginika]

stop-graspは終わる?

[furushchev]

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。

[aginika]

http://answers.ros.org/question/10382/problem-picking-items-up-in-gazebo-with-pr2/
Kind of this problem？
https://github.com/PR2/pr2_controllers/blob/hydro-devel/pr2_gripper_action/src/pr2_gripper_action.cpp#L212

[aginika]

start-grasp problem is solved with above solution.

[k-okada]

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 [email protected] wrote:

start-grasp問題は上記ので解決しました。

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Reply to this email directly or view it on GitHub
#1149 (comment)
.

[aginika]

Yes
The change https://github.com/jsk-ros-pkg/jsk_robot/pull/519/files
will fix this problem

[furushchev]

@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

[UltronDestroyer]

@furushchev @aginika @k-okada

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.

[furushchev]

Closed this issue. All issues were now solved.

[aginika]

Thanks