unitreerobotics / laikago_ros Goto Github PK

Hi,
I do note that Gazebo8 is required but I manage to make it launch in Gazebo7.
However,the laikago is unable to stand when I run laikago_servo node.
The motors on the right side seems to be slower than the motors on the left.
It is because I am using Gazebo7?

Hello

I have followed the steps in READ_ME.md but running into issues when trying to launch rviz.launch inside of laikago_rviz package. I' m getting the following error messages.

[ERROR] [1561787437.444252717]: Geometry tag contains no child element. [ERROR] [1561787437.444288480]: Could not parse visual element for Link [FL_thigh] [ERROR] [1561787437.444336866]: Geometry tag contains no child element. [ERROR] [1561787437.444346211]: Could not parse visual element for Link [FR_thigh] [ERROR] [1561787437.444389953]: Geometry tag contains no child element. [ERROR] [1561787437.444399517]: Could not parse visual element for Link [RR_thigh] [ERROR] [1561787437.444440450]: Geometry tag contains no child element. [ERROR] [1561787437.444448261]: Could not parse visual element for Link [RL_thigh] [ERROR] [1561787437.444490167]: Joint [FL_hip_joint] is of type REVOLUTE but it does not specify limits [ERROR] [1561787437.444508022]: joint xml is not initialized correctly [ INFO] [1561787437.524283215]: rviz version 1.13.3 [ INFO] [1561787437.524330877]: compiled against Qt version 5.9.5 [ INFO] [1561787437.524342805]: compiled against OGRE version 1.9.0 (Ghadamon) [robot_state_publisher-3] process has died [pid 12701, exit code 255, cmd /opt/ros/melodic/lib/robot_state_publisher/state_publisher __name:=robot_state_publisher __log:=/home/prismadynamics/.ros/log/d133b462-9a31-11e9-9df2-38dead2d76c5/robot_state_publisher-3.log]. log file: /home/prismadynamics/.ros/log/d133b462-9a31-11e9-9df2-38dead2d76c5/robot_state_publisher-3*.log [WARN] [1561787437.780960]: FL_hip_joint is not fixed, nor continuous, but limits are not specified! [WARN] [1561787437.782019]: FR_hip_joint is not fixed, nor continuous, but limits are not specified! [WARN] [1561787437.782682]: RR_hip_joint is not fixed, nor continuous, but limits are not specified! [WARN] [1561787437.783340]: RL_hip_joint is not fixed, nor continuous, but limits are not specified!

Hi,

There are two lines that have to be added in CMakeLists.txt files as below.

add_dependencies(laikago_joint_controller laikago_msgs_gencpp)

after this line and

add_dependencies(${PROJECT_NAME} laikago_msgs_gencpp)

after this line.

A simple way of checking this bug is to remove ~/catkin_ws/build and ~/catkin_ws/devel directories and catkin_make again, then you will see a compile crash. By adding add_dependencies() lines, your code will compile dependency packages first and compile the controller and gazebo packages and avoid the compile crash.

Ryan