robotnikautomation / rb1_base_common Goto Github PK

Hi,
Suddenly it started giving the following error. I searched on it but it says some default value is changed. but Could not find the proper solution for this. I reinstalled the xacro package and its dependencies are still not sorted. But because of this I cant run my main launch file as well :( . Please find attached the log.
Thanks in advance.

Are there plans for supporting the packages for ROS Noetic?

mesh model: rb1_base_v3.stl

I try to calculate Moment of inertia using MeshLab.

To precisely, I first scale up the model mesh with factor 10, which I get the following message,

-> Mesh Bounding Box Size = 5.000000 (m), 4.982923 (m) 2.230000 (m)
-> Mesh Volume is 36.789902
-> Inertia Tensor is :
[ 68.811394, 0.000714, 0.918281 ]
[ 0.000714, 66.050369, 0.000911 ]
[ 0.918281, 0.000911, 103.803253 ]

With respect to Gazebo tutorial, I first divide the inertia tensor with mesh volume, which is used to estimate mass of the mesh.

Then I got the result:

ixx: 68.811394 / 36.789902 = 1.8703880755
ixy: 0.000714 / 36.789902 = 0.00001940749937
ixz: 0.918281 / 36.789902 = 0.02496013716
iyy: 66.050369 / 36.789902 = 1.7953396288
iyz: 0.000911 / 36.789902 = 0.00002476222959
izz: 103.803253 / 36.789902 = 2.8215148004

and because we have scale up the model with factor 10 before get the information, we now need to scale down with (length^2), which means divide result by 100, also I multiply that result with the given real mass of rb1_model_v3, which is 25kg.

so the final ixx - izz I got is,

ixx: 0.018703880755 * 25 = 0.4675970189
ixy: 0.0000001940749937 * 25 = 0.000004851874842
ixz: 0.0002496013716 * 25 = 0.00624003429
iyy: 0.017953396288 * 25 = 0.4488349072
iyz: 0.0000002476222959 * 25 = 0.000006190557397
izz: 0.028215148004 * 25 = 0.7053787001

However, in the file you provide in rb1_base_description/urdf/bases/rb1_base_v3.urdf.xacro,

the inertia is instead following:
ixx = 0.007
ixx = 0.0
ixx = 0.0
ixy =0.007
iyz = 0.0
izz = 0.78

Could you please tell me if I had something wrong direction to calculate the inertia matrix?

I am the newbie of ROS, and I try to make my own model simulated in Gazebo :D

I am working on rb1

I am trying to do mapping, navigation and localization of robot through map_nav_manager node

map_nav_manager node is an internal web server of the robot. I can access this website
through the browser using the address rb1-base:port, where rb1-base is the hostname of the
robot and the port is 9001.

I can do mapping properly without any error.
map_server and localization are showing perfectly map and location of robot
but when I am trying with navigation /move_base/goal robot is not going in the right desired place, sometimes is going bit offside from the path, sometime going back rather going forward.

ping all nodes, and all nosed communicating properly
rb1@rb1-demo:~$ rosnode list
/rb1_base/amcl
/rb1_base/controller_spawner
/rb1_base/front_laser
/rb1_base/map_nav_manager
/rb1_base/map_server
/rb1_base/mavros
/rb1_base/move_base
/rb1_base/move_base_node/local_costmap/voxel_grid_throttle
/rb1_base/poi_interactive_marker
/rb1_base/poi_interactive_marker_proxy
/rb1_base/poi_manager
/rb1_base/ps4_joy
/rb1_base/rb1_base_pad
/rb1_base/robot_pose_publisher
/rb1_base/robot_state_publisher
/rb1_base/robotnik_base_hw
/rb1_base/rosapi
/rb1_base/rosbridge_websocket
/rb1_base/system_monitor
/rb1_base/system_monitor/localhost/cpu_monitor
/rb1_base/system_monitor/localhost/hdd_monitor
/rb1_base/system_monitor/localhost/mem_monitor
/rb1_base/system_monitor/localhost/net_monitor
/rb1_base/system_monitor/localhost/ntp_monitor
/rb1_base/tf2_web_republisher
/rb1_base/twist_mux
/rosout

even rostopic echo /rb1_base/move_base/goal
header:
seq: 12
stamp:
secs: 1529418190
nsecs: 409701108
frame_id: ''
goal_id:
stamp:
secs: 1529418190
nsecs: 409668922
id: "/rb1_base/poi_interactive_marker-12-1529418190.410"
goal:
target_pose:
header:
seq: 0
stamp:
secs: 1529418190
nsecs: 409564018
frame_id: "rb1_base_map"
pose:
position:
x: 2.33495057675
y: 0.0843004842579
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.962909507506
w: 0.269824536234
-----
showing this value but robot is not moving.

Is it calibration problem ? if yes, then any idea how to do calibration on rb1, because I didn't find any topic or rosservice or launch file to calibrate.

so can anyone tell me how can I fix this?

Hello, I am currently working on the rb1-base for my masters' thesis and i have encountered some problems regarding the odom topic of the robot when i try to move it on what it considers the y axis. For example, after starting the robot ( on startup the robot faces the x-axis) and turning about 90 degrees, I am moving it along y for about 1.35 meters and the odom topic displays x and y as 0.94 and 0.92 respectively (this seems like the robot considers the angle as about 45 degrees?). I am also attaching a screenshot of an error message (rb11_base/calibrator-36) that appeared on startup and is related to odom. If possible, I would like to know how I can resolve this issue and potentially calibrate the encoders. Finally ,if this is the wrong place to ask I would appreciate if you could point me to the right direction. Thank you in advance.

https://imgur.com/a/3Arw4oH

Hello all,

When I run the command:

roslaunch rb1_base_sim_bringup rb1_base_complete.launch launch_robot_b:=true launch_robot_c:=true

I get this error:

error loading <rosparam> tag: file does not exist [/home/mike/catkin_ws/src/rb_log_ws/rb1_base_common/rb1_base_control/config/rb1_base_b_diffdrive_control.yaml]
XML is <rosparam command="load" file="$(find rb1_base_control)/config/$(arg prefix)diffdrive_control.yaml"/>

I think that in one of the latest commit in rb1_base_common (commit 61e23698e77d6c83a73c4f066d4ed176b7ae848a), you have added $(arg prefix) which comes in handy but crashes the simulation for more than one RB1-Base robots...

I'm running the kinetic-devel branch.

Best regards,
Mike