EuRoC Forum

The topic "/collision_workpiece_robot" does not appear to be published in the simulator. E.g.

Code: Select all

rostopic info /collision_workpiece_robot
Type: std_msgs/Bool

Publishers: None

Subscribers:
 * /ipa325_record (http://arf-HP-EliteBook-8570w:51891/)
 * /com_client (http://arf-HP-EliteBook-8570w:57950/)


There appears to be disabled code in 'collision_logic_node.py', regarding this:

Code: Select all

 rospy.init_node('CollisionLogicNode', anonymous=True)
        # self.timer = rospy.Timer(rospy.Duration(0.5), self.timeout_cb)

        self.sub_col_rob_hum = rospy.Subscriber("/gazebo/collisions/ur5_human", self.Bool, self.collision_rob_hum_cb)
        #self.sub_col_rob_wp = rospy.Subscriber("/gazebo/collision/ur5_workpiece", self.Bool, self.collision_rob_wp_cb)


and no Publisher.

Can we directly use the '/gazebo/collision/ur5_workpiece' topic instead?

Hi DTI,

Yes, you can use use the topic '/gazebo/collision/ur5_workpiece' instead. We will mirror this topic to '/collision_workpiece_robot' in the next simulator release, then having both topics and be conform with the technical annex.

Best

It seems that position of workpiece is updated immediately after detected collision. Would it be possible to do it after arm moves away / to rivet_home? Because now when there is collision, workpiece moves to its original position and bumps to arm and this happens over and over again.

The same happens with human collisions, and the human does not leave the scene after the collision.

Dear all,

It seems that position of workpiece is updated immediately after detected collision. Would it be possible to do it after arm moves away / to rivet_home? Because now when there is collision, workpiece moves to its original position and bumps to arm and this happens over and over again.

We will reset the workpiece position when the robot reached rivet_home to avoid the oscilllation.

Regarding the human collision: when detected the human is reset to its original position (out of the way of the robot), so it should leave the scene immediatly. It will however return again some time later in a new attempt to interfere.

Best regards