Collisions in Track 1 - Task 2




Collisions in Track 1 - Task 2

Postby AIS » Fri 5. Sep 2014, 09:45

Hello,

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.

Has anybody noticed this problem?

Kind regards
AIS
 
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by Advertising » Fri 5. Sep 2014, 09:45

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Re: Collisions in Track 1 - Task 2

Postby admin » Fri 5. Sep 2014, 09:51

Dear AIS,

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?

Best regards,
Bernd
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Re: Collisions in Track 1 - Task 2

Postby AIS » Fri 5. Sep 2014, 10:34

Dear Bernd,

I have updated the simulation environment and after some executions of the task, I have not noticed any strange collision detection.

I will notify if any strange situation is detected.

Thanks!

Kind regards
AIS
 
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Re: Collisions in Track 1 - Task 2

Postby AIS » Fri 5. Sep 2014, 11:24

Dear Bernd,

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
AIS
 
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Re: Collisions in Track 1 - Task 2

Postby nicolo.boscolo » Mon 8. Sep 2014, 10:11

Dear admin,

I noticed from the previous posts that there is a new software release in the repository. No information has been published in the update topic (http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-1-f3/updates-for-challenge-1-t8.html), please keep updated that topic in order to make everyone aware of the important news.

Kind Regards
nicolo.boscolo
 
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Re: Collisions in Track 1 - Task 2

Postby admin » Wed 10. Sep 2014, 17:22

Dear Nicolo,

you are right. We sent an email to all team leaders notifying the update. In the future we will keep the update topic http://euroc.iphpbb3.com/forum/20112706nx57588/challenge-1-f3/updates-for-challenge-1-t8.html updated as well so that each team member has a chance to note the change.

Best
admin
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Re: Collisions in Track 1 - Task 2

Postby admin » Wed 10. Sep 2014, 17:29

AIS wrote:Dear Bernd,

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: Select all
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)

Best
admin
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Re: Collisions in Track 1 - Task 2

Postby AIS » Mon 29. Sep 2014, 10:15

Sorry for the delay.

When executing the tf transformation we get the error:
Exception thrown:"tool_link_c" passed to lookupTransform argument source_frame does not exist.

It seems that this frame does not exist in the tf, as posted previously.
Are you providing any solution for this problem?

Kind regards
AIS
 
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Re: Collisions in Track 1 - Task 2

Postby AIS » Tue 14. Oct 2014, 14:26

Hello,

Is there any solution planned for the error in the robot model for future updates?

Best regards
AIS
 
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Joined: Mon 1. Sep 2014, 09:48

Re: Collisions in Track 1 - Task 2

Postby Frank » Tue 14. Oct 2014, 16:07

Hi,

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?

Regards,
Frank
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