Some strange collisions are detected by the simulator during the execution of Task 2 in Track 1, detected even when the arm is far from the table/workpiece or in its home position. Some of the collisions are also detected before the 'execute_task' service has been requested.
we are aware of this issue on the old simulator. We updated the simulator (and the collision detection code) on 02.09.2014. Did you update your simulation environment with the current installer available from the ftp?
In the new simulation environment we have detected a new link called 'tool_link_c'.
When we initialize Rviz the robot model shows an status error. The error is related with the TF, as it is not possible to find a transform between the world and this new link.
We have checked that its corresponding joint is of type revolute but we couldn't find any controller for it. Could it be the source of the error?
In the new simulation environment we have detected a new link called 'tool_link_c'.
When we initialize Rviz the robot model shows an status error. The error is related with the TF, as it is not possible to find a transform between the world and this new link.
We have checked that its corresponding joint is of type revolute but we couldn't find any controller for it. Could it be the source of the error?
Kind regards
Dear AIS,
thank you for the notification. We are looking into the problem. What output do you get if you run
Code:
rosrun tf tf_echo /world /tool_link_c
(sometimes it's just rviz and not tf itself which does not find transforms .. just to make sure)
Sorry for the late response. The last link was split up into a part for visualization (with a fixed joint) and a part for collision (with a revolute joint, called *_c). I guess this was due to some troubles with fixed joints and collision detection in gazebo (see also http://answers.gazebosim.org/question/1 ... xed-joint/ ).
The tool_link and tool_link_c frames are actually the same, so using tool_link should work fine. (Admittedly though, "Status: Error" doesn't look pretty in RViz, so we'll check whether we can fix it.)
I will notify if any strange situation is detected.
Did any strange behavior still occur regarding collisions?