I am trying the op3 Gazebo simulation. I started roscore in one terminal. In the

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op3 simulation not responding,about robotis-git/robotis-op3

Comments (11)

arixrobotics commented on July 24, 2024

Just to be sure, have you click the Start button in Gazebo?

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kaym9n commented on July 24, 2024

I'm sorry. but I can't figure out what the problem is.
Could you provide me more information such as screenshots and the button you clicked on?

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hayday100 commented on July 24, 2024

I clicked on "initial position", then "get head control mode", then changing the head pan and tilt. But the robot is not sitting down to initial position or moving its head. It is not responding at all. The op3_manager window constantly gives "wait for receiving current position" messages.

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arixrobotics commented on July 24, 2024

In the screenshot you @hayday100 provided, the start button on Gazebo is not pressed. Try clicking on it. Then only the simulation will start.

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hayday100 commented on July 24, 2024

Thank you and I cannot believe that I ignored the Play button so many times. Now that I pushed the Play button, the OP3 is responding but it will immediately lay down on its back and then stopped responding to the buttons again. I tried the "get up (front)" and get up (back)" among other buttons but the simulation is stuck over there. All programs are still running. The side pane messages in the demo has "Succeed to start page 123", "failed to start page 122", etc.

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kaym9n commented on July 24, 2024

I think there are no controllers for gazebo.
Did you install following packages?

# apt-get install ros-kinetic-ros-control
# apt-get install ros-kinetic-ros-controllers
# apt-get install ros-kinetic-gazebo-ros-control

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hayday100 commented on July 24, 2024

Thank you. That's what the problem is. In the process of installing ros-kinetic-gazebo-ros-control I had to downgrade several libgazebo9 packages to libgazebo7. Not that the version difference matters to me, I just wonder if it is because libgazebo9 has some issues with ros-kinetic-gazebo-ros-control which caused the broken packages issues I had. I did some experiments with realtime camera video transfer after the last experiment with OP3 which might have caused the package issues. Anyway, once problem at a time.

The next question I have is a easier way to restart the robot simulation from initial pose after it falls from walking. When OP3 falls face down, "get up front" or "get up back" buttons in the demo won't get it up. So I have to restart gazebo, op3_manager and op3_demo all over right now. And I also happen to run into another position when the robot becomes a "box" and get stuck.

I also wonder if the real hardware OP3 falls, will it be able to get up?

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hayday100 commented on July 24, 2024

I just tried again and this time the OP3 is getting up from face down. Just when I was very exited to watch it getting up, poof, gazebo collapsed. The terminal display is below:

(Vpy27) chen@home-desktop:~$ roslaunch op3_gazebo robotis_world.launch
... logging to /home/chen/.ros/log/7f5748d2-7b17-11e8-8963-4ccc6a2535ed/roslaunch-home-desktop-9256.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://home-desktop:36820/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /robotis_op3/head_pan_position/joint: head_pan
 * /robotis_op3/head_pan_position/pid/d: 0.0
 * /robotis_op3/head_pan_position/pid/i: 0.0
 * /robotis_op3/head_pan_position/pid/p: 5.0
 * /robotis_op3/head_pan_position/type: effort_controller...
 * /robotis_op3/head_tilt_position/joint: head_tilt
 * /robotis_op3/head_tilt_position/pid/d: 0.0
 * /robotis_op3/head_tilt_position/pid/i: 0.0
 * /robotis_op3/head_tilt_position/pid/p: 5.0
 * /robotis_op3/head_tilt_position/type: effort_controller...
 * /robotis_op3/joint_state_controller/publish_rate: 50
 * /robotis_op3/joint_state_controller/type: joint_state_contr...
 * /robotis_op3/l_ank_pitch_position/joint: l_ank_pitch
 * /robotis_op3/l_ank_pitch_position/pid/d: 0.0
 * /robotis_op3/l_ank_pitch_position/pid/i: 0.0
 * /robotis_op3/l_ank_pitch_position/pid/p: 50.0
 * /robotis_op3/l_ank_pitch_position/type: effort_controller...
 * /robotis_op3/l_ank_roll_position/joint: l_ank_roll
 * /robotis_op3/l_ank_roll_position/pid/d: 0.0
 * /robotis_op3/l_ank_roll_position/pid/i: 0.0
 * /robotis_op3/l_ank_roll_position/pid/p: 50.0
 * /robotis_op3/l_ank_roll_position/type: effort_controller...
 * /robotis_op3/l_el_position/joint: l_el
 * /robotis_op3/l_el_position/pid/d: 0.0
 * /robotis_op3/l_el_position/pid/i: 0.0
 * /robotis_op3/l_el_position/pid/p: 10.0
 * /robotis_op3/l_el_position/type: effort_controller...
 * /robotis_op3/l_hip_pitch_position/joint: l_hip_pitch
 * /robotis_op3/l_hip_pitch_position/pid/d: 0.0
 * /robotis_op3/l_hip_pitch_position/pid/i: 0.0
 * /robotis_op3/l_hip_pitch_position/pid/p: 50.0
 * /robotis_op3/l_hip_pitch_position/type: effort_controller...
 * /robotis_op3/l_hip_roll_position/joint: l_hip_roll
 * /robotis_op3/l_hip_roll_position/pid/d: 0.0
 * /robotis_op3/l_hip_roll_position/pid/i: 0.0
 * /robotis_op3/l_hip_roll_position/pid/p: 50.0
 * /robotis_op3/l_hip_roll_position/type: effort_controller...
 * /robotis_op3/l_hip_yaw_position/joint: l_hip_yaw
 * /robotis_op3/l_hip_yaw_position/pid/d: 0.0
 * /robotis_op3/l_hip_yaw_position/pid/i: 0.0
 * /robotis_op3/l_hip_yaw_position/pid/p: 50.0
 * /robotis_op3/l_hip_yaw_position/type: effort_controller...
 * /robotis_op3/l_knee_position/joint: l_knee
 * /robotis_op3/l_knee_position/pid/d: 0.0
 * /robotis_op3/l_knee_position/pid/i: 0.0
 * /robotis_op3/l_knee_position/pid/p: 50.0
 * /robotis_op3/l_knee_position/type: effort_controller...
 * /robotis_op3/l_sho_pitch_position/joint: l_sho_pitch
 * /robotis_op3/l_sho_pitch_position/pid/d: 0.0
 * /robotis_op3/l_sho_pitch_position/pid/i: 0.0
 * /robotis_op3/l_sho_pitch_position/pid/p: 10.0
 * /robotis_op3/l_sho_pitch_position/type: effort_controller...
 * /robotis_op3/l_sho_roll_position/joint: l_sho_roll
 * /robotis_op3/l_sho_roll_position/pid/d: 0.0
 * /robotis_op3/l_sho_roll_position/pid/i: 0.0
 * /robotis_op3/l_sho_roll_position/pid/p: 10.0
 * /robotis_op3/l_sho_roll_position/type: effort_controller...
 * /robotis_op3/r_ank_pitch_position/joint: r_ank_pitch
 * /robotis_op3/r_ank_pitch_position/pid/d: 0.0
 * /robotis_op3/r_ank_pitch_position/pid/i: 0.0
 * /robotis_op3/r_ank_pitch_position/pid/p: 50.0
 * /robotis_op3/r_ank_pitch_position/type: effort_controller...
 * /robotis_op3/r_ank_roll_position/joint: r_ank_roll
 * /robotis_op3/r_ank_roll_position/pid/d: 0.0
 * /robotis_op3/r_ank_roll_position/pid/i: 0.0
 * /robotis_op3/r_ank_roll_position/pid/p: 50.0
 * /robotis_op3/r_ank_roll_position/type: effort_controller...
 * /robotis_op3/r_el_position/joint: r_el
 * /robotis_op3/r_el_position/pid/d: 0.0
 * /robotis_op3/r_el_position/pid/i: 0.0
 * /robotis_op3/r_el_position/pid/p: 10.0
 * /robotis_op3/r_el_position/type: effort_controller...
 * /robotis_op3/r_hip_pitch_position/joint: r_hip_pitch
 * /robotis_op3/r_hip_pitch_position/pid/d: 0.0
 * /robotis_op3/r_hip_pitch_position/pid/i: 0.0
 * /robotis_op3/r_hip_pitch_position/pid/p: 50.0
 * /robotis_op3/r_hip_pitch_position/type: effort_controller...
 * /robotis_op3/r_hip_roll_position/joint: r_hip_roll
 * /robotis_op3/r_hip_roll_position/pid/d: 0.0
 * /robotis_op3/r_hip_roll_position/pid/i: 0.0
 * /robotis_op3/r_hip_roll_position/pid/p: 50.0
 * /robotis_op3/r_hip_roll_position/type: effort_controller...
 * /robotis_op3/r_hip_yaw_position/joint: r_hip_yaw
 * /robotis_op3/r_hip_yaw_position/pid/d: 0.0
 * /robotis_op3/r_hip_yaw_position/pid/i: 0.0
 * /robotis_op3/r_hip_yaw_position/pid/p: 50.0
 * /robotis_op3/r_hip_yaw_position/type: effort_controller...
 * /robotis_op3/r_knee_position/joint: r_knee
 * /robotis_op3/r_knee_position/pid/d: 0.0
 * /robotis_op3/r_knee_position/pid/i: 0.0
 * /robotis_op3/r_knee_position/pid/p: 50.0
 * /robotis_op3/r_knee_position/type: effort_controller...
 * /robotis_op3/r_sho_pitch_position/joint: r_sho_pitch
 * /robotis_op3/r_sho_pitch_position/pid/d: 0.0
 * /robotis_op3/r_sho_pitch_position/pid/i: 0.0
 * /robotis_op3/r_sho_pitch_position/pid/p: 10.0
 * /robotis_op3/r_sho_pitch_position/type: effort_controller...
 * /robotis_op3/r_sho_roll_position/joint: r_sho_roll
 * /robotis_op3/r_sho_roll_position/pid/d: 0.0
 * /robotis_op3/r_sho_roll_position/pid/i: 0.0
 * /robotis_op3/r_sho_roll_position/pid/p: 10.0
 * /robotis_op3/r_sho_roll_position/type: effort_controller...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /use_sim_time: True

NODES
  /robotis_op3/
    controller_spawner (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    urdf_spawner (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [9276]
process[gazebo_gui-2]: started with pid [9281]
process[urdf_spawner-3]: started with pid [9286]
process[robotis_op3/controller_spawner-4]: started with pid [9287]
SpawnModel script started
[INFO] [1530220382.413736, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1530220382.559495, 0.000000]: Loading model XML from ros parameter
[INFO] [1530220382.564197, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1530220382.565087117]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1530220382.565888004]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1530220382.635455270]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1530220382.635884727]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1530220384.074382, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1530220384.310213, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[urdf_spawner-3] process has finished cleanly
log file: /home/chen/.ros/log/7f5748d2-7b17-11e8-8963-4ccc6a2535ed/urdf_spawner-3*.log
[ INFO] [1530220385.835462496]: Loading gazebo_ros_control plugin
[ INFO] [1530220385.835594324]: Starting gazebo_ros_control plugin in namespace: /robotis_op3
[ INFO] [1530220385.836458813]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1530220385.968516952]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_hip_yaw'.
[ WARN] [1530220385.969734255]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_hip_roll'.
[ WARN] [1530220385.970862279]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_hip_pitch'.
[ WARN] [1530220385.971816026]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_knee'.
[ WARN] [1530220385.972660015]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_ank_pitch'.
[ WARN] [1530220385.973542526]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_ank_roll'.
[ WARN] [1530220385.974667913]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_hip_yaw'.
[ WARN] [1530220385.975426039]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_hip_roll'.
[ WARN] [1530220385.976065103]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_hip_pitch'.
[ WARN] [1530220385.976691777]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_knee'.
[ WARN] [1530220385.977334888]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_ank_pitch'.
[ WARN] [1530220385.978047646]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_ank_roll'.
[ WARN] [1530220385.978641633]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_sho_pitch'.
[ WARN] [1530220385.979227647]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_sho_roll'.
[ WARN] [1530220385.979990240]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'l_el'.
[ WARN] [1530220385.980557574]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_sho_pitch'.
[ WARN] [1530220385.981106393]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_sho_roll'.
[ WARN] [1530220385.981597383]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'r_el'.
[ WARN] [1530220385.982142646]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'head_pan'.
[ WARN] [1530220385.982678844]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'head_tilt'.
[ INFO] [1530220385.988329336]: Loaded gazebo_ros_control.
[INFO] [1530220386.029974, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1530220386.031556, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1530220386.033055, 0.000000]: Loading controller: joint_state_controller
[INFO] [1530220386.039801, 0.000000]: Loading controller: l_hip_yaw_position
[INFO] [1530220386.083352, 0.000000]: Loading controller: l_hip_roll_position
[INFO] [1530220386.122601, 0.000000]: Loading controller: l_hip_pitch_position
[INFO] [1530220386.162031, 0.000000]: Loading controller: l_knee_position
[INFO] [1530220386.222014, 0.000000]: Loading controller: l_ank_roll_position
[INFO] [1530220386.266245, 0.000000]: Loading controller: l_ank_pitch_position
[INFO] [1530220386.309801, 0.000000]: Loading controller: r_hip_yaw_position
[INFO] [1530220386.342087, 0.000000]: Loading controller: r_hip_roll_position
[INFO] [1530220386.373931, 0.000000]: Loading controller: r_hip_pitch_position
[INFO] [1530220386.407233, 0.000000]: Loading controller: r_knee_position
[INFO] [1530220386.437672, 0.000000]: Loading controller: r_ank_roll_position
[INFO] [1530220386.481370, 0.000000]: Loading controller: r_ank_pitch_position
[INFO] [1530220386.517739, 0.000000]: Loading controller: l_sho_pitch_position
[INFO] [1530220386.553206, 0.000000]: Loading controller: l_sho_roll_position
[INFO] [1530220386.585311, 0.000000]: Loading controller: l_el_position
[INFO] [1530220386.618904, 0.000000]: Loading controller: r_sho_pitch_position
[INFO] [1530220386.653106, 0.000000]: Loading controller: r_sho_roll_position
[INFO] [1530220386.689910, 0.000000]: Loading controller: r_el_position
[INFO] [1530220386.722104, 0.000000]: Loading controller: head_pan_position
[INFO] [1530220386.755200, 0.000000]: Loading controller: head_tilt_position
[INFO] [1530220386.787533, 0.000000]: Controller Spawner: Loaded controllers: joint_state_controller, l_hip_yaw_position, l_hip_roll_position, l_hip_pitch_position, l_knee_position, l_ank_roll_position, l_ank_pitch_position, r_hip_yaw_position, r_hip_roll_position, r_hip_pitch_position, r_knee_position, r_ank_roll_position, r_ank_pitch_position, l_sho_pitch_position, l_sho_roll_position, l_el_position, r_sho_pitch_position, r_sho_roll_position, r_el_position, head_pan_position, head_tilt_position
[INFO] [1530220442.839866, 0.000000]: Started controllers: joint_state_controller, l_hip_yaw_position, l_hip_roll_position, l_hip_pitch_position, l_knee_position, l_ank_roll_position, l_ank_pitch_position, r_hip_yaw_position, r_hip_roll_position, r_hip_pitch_position, r_knee_position, r_ank_roll_position, r_ank_pitch_position, l_sho_pitch_position, l_sho_roll_position, l_el_position, r_sho_pitch_position, r_sho_roll_position, r_el_position, head_pan_position, head_tilt_position
[ INFO] [1530220442.861059840, 18.153000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1530220442.863029138, 18.154000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1530220442.946186264, 18.232000000]: Physics dynamic reconfigure ready.
[ INFO] [1530220442.947293881, 18.232000000]: Physics dynamic reconfigure ready.
Error [Param.cc:452] Unable to set value [inf inf inf -0.338923 0.30603 -1.14834] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf inf -0.456736 0.517044 -0.903449] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 1.49222 -0.062765 1.56946] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.47654 0.388872 0.686155] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 0.141879 0.213121 -1.07231] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 0.148705 0.438582 -0.632019] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf inf -0.416412 -0.028946 3.04708] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf inf -1.26236 0.251872 -3.12636] for key[pose]
Error [Param.cc:452] Unable to set value [-inf -inf inf 2.14694 -0.323361 2.76603] for key[pose]
Error [Param.cc:452] Unable to set value [-inf -inf inf 1.73929 0.234883 0.748436] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf inf -0.842619 0.662889 -2.89824] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf inf 2.59355 0.22571 2.51276] for key[pose]
Error [Param.cc:452] Unable to set value [-inf -inf -inf -2.02106 -0.657695 0.068829] for key[pose]
Error [Param.cc:452] Unable to set value [-inf -inf -inf 0.828329 -0.375876 -0.241927] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -2.34979 0.797894 -1.52367] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -1.78009 1.01089 1.79243] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 0.160526 0.558077 -2.77836] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -0.790408 -0.512167 2.13319] for key[pose]
Error [Param.cc:452] Unable to set value [-inf -inf inf -2.41542 0.096593 -2.13448] for key[pose]
Error [Param.cc:452] Unable to set value [-inf -inf inf -2.2312 0.371176 -2.35271] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.88335 -0.891081 0.628786] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -2.00044 0.112252 -0.498278] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -1.22631 0.567702 2.69252] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -1.29853 0.080659 1.48177] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 2.40246 -0.949931 -1.80839] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 0.509268 -0.824347 1.99173] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 1.62559 -0.279886 -0.167049] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 2.21317 0.084777 -0.543487] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -0.097972 0.136272 2.88309] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -1.1237 -0.155005 2.46668] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 1.99871 0.974993 0.428012] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.94793 0.007317 1.0152] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.4222 0.765891 -0.404045] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.48779 0.394979 -0.514168] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.58541 1.03106 -1.28032] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -2.57765 1.37726 -0.223777] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.07783 -1.20979 3.13526] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -1.78958 -1.41063 0.174723] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -0.456772 0.217929 -2.86757] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -0.231438 -0.254114 2.16206] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -0.555728 -0.30125 2.87174] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf -0.520029 -0.493932 2.18876] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -2.8278 -0.927982 -2.63552] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 1.97647 -0.697487 1.6613] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 0.01472 -0.006411 -0.012515] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 2.12869 -0.013773 0.96206] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 0.019026 -0.233311 -0.016741] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -1.92674 -0.356198 -0.423298] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf inf -0.121198 -0.022024 0.136436] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf inf -0.948991 0.021016 -3.13866] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf inf 0.045734 -0.087468 0.175857] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf inf 0.822317 -1.41122 1.98847] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 3.08512 -0.885589 -2.91873] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -0.130489 0.377107 2.18915] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf inf 0.054768 -0.166417 0.168835] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf inf -2.45022 -0.336586 -1.38306] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf inf 3.05797 -1.19937 -2.88314] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf inf 2.94335 -0.685382 1.8902] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 2.18926 -1.34965 2.89236] for key[pose]
Error [Param.cc:452] Unable to set value [inf -inf -inf 0.845427 -0.850169 -0.104208] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 0.056879 -1.24022 -0.049041] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -1.83008 -0.557989 -2.32221] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -1.1243 -1.24246 -0.049647] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -2.83822 0.066342 -0.63053] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -1.24988 -1.2417 -0.051509] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -0.878369 0.853186 1.66644] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -0.020734 -0.006253 -0.241553] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 2.05551 0.368773 -1.01849] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -0.102993 -0.009514 -0.238345] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 1.58605 0.87018 -1.63972] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -2.77839 -1.28933 2.54914] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -0.041898 -0.613709 1.1253] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -0.107431 0.38067 -0.281824] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf -2.56458 0.657702 0.547577] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -0.134481 -0.730139 -0.15191] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 1.14162 0.392426 -1.81981] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 0.007987 -0.730166 -0.152531] for key[pose]
Error [Param.cc:452] Unable to set value [-inf inf -inf 1.00218 -0.064678 1.34441] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 0.000863 -0.953038 0.002077] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -3.02792 0.551535 -0.491463] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 1.19696 -0.953957 -0.020944] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 0.592338 -1.21351 0.783065] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf 1.32352 -0.954373 -0.022135] for key[pose]
Error [Param.cc:452] Unable to set value [inf inf -inf -1.99773 1.39685 -3.13222] for key[pose]
gzclient: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.
Aborted
[gazebo_gui-2] process has died [pid 9281, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/chen/.ros/log/7f5748d2-7b17-11e8-8963-4ccc6a2535ed/gazebo_gui-2.log].
log file: /home/chen/.ros/log/7f5748d2-7b17-11e8-8963-4ccc6a2535ed/gazebo_gui-2*.log

I cannot find the log file it mentioned though.

The demo terminal listed all the events:

(Vpy27) chen@home-desktop:~$ roslaunch op3_gui_demo op3_demo.launch
... logging to /home/chen/.ros/log/7f5748d2-7b17-11e8-8963-4ccc6a2535ed/roslaunch-home-desktop-11376.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://home-desktop:36004/

SUMMARY
========

PARAMETERS
 * /demo_config: /home/chen/catkin...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    op3_demo_opc (op3_gui_demo/op3_gui_demo)

ROS_MASTER_URI=http://localhost:11311

process[op3_demo_opc-1]: started with pid [11393]
[ INFO] [1530220430.915059654]: Initialized node handle for default demo
[ INFO] [1530220430.926682008]: Initialized node handle for preview walking
[ INFO] [1530220443.863617779, 19.132000000]: Start Init Pose
[ INFO] [1530220445.892280652, 21.128000000]: Go to robot initial pose.
[ INFO] [1530220447.925060888, 23.133000000]: Finish Init Pose
[ INFO] [1530220492.024311535, 66.592000000]: Set Mode : walking_module
[ INFO] [1530220492.572210649, 67.133000000]: set current joint module
[ INFO] [1530220492.572300238, 67.133000000]: Applied Mode
[ INFO] [1530220492.576392705, 67.134000000]: Get walking parameters
[ INFO] [1530220503.647886787, 78.062000000]: Apply Walking parameters.
[ INFO] [1530220521.296917753, 95.451000000]: Set Walking Command : start

[ INFO] [1530220521.985176747, 96.133000000]: Start walking
[ INFO] [1530220534.634765243, 99.316000000]: Set Walking Command : stop

[ INFO] [1530220540.325008183, 100.133000000]: Stop walking
[ INFO] [1530220560.002098362, 102.880000000]: Set Mode : action_module
[ INFO] [1530220561.808291491, 103.133000000]: Stop walking
[ INFO] [1530220561.808332264, 103.133000000]: Stop walking
[ INFO] [1530220561.809187219, 103.133000000]: set current joint module
[ INFO] [1530220561.809382110, 103.133000000]: Applied Mode
[ INFO] [1530220581.418310659, 105.881000000]: Play Motion : [122] Get up(Front)
[ INFO] [1530220583.144442047, 106.133000000]: Succeed to start page 122
[ INFO] [1530220583.144536973, 106.133000000]: Action_Start
[ INFO] [1530220588.859566551, 109.133000000]: Action_Finish

And the OP3_manager window:


(Vpy27) chen@home-desktop:~/catkin_ws/src$ roslaunch op3_manager op3_gazebo.launch
... logging to /home/chen/.ros/log/7f5748d2-7b17-11e8-8963-4ccc6a2535ed/roslaunch-home-desktop-11070.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://home-desktop:37825/

SUMMARY
========

PARAMETERS
 * /device_name: /dev/ttyUSB0
 * /gazebo: True
 * /gazebo_robot_name: robotis_op3
 * /init_file_path: /home/chen/catkin...
 * /offset_file_path: /home/chen/catkin...
 * /robot_file_path: /home/chen/catkin...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    op3_manager (op3_manager/op3_manager)

ROS_MASTER_URI=http://localhost:11311

process[op3_manager-1]: started with pid [11087]
[ INFO] [1530220423.494228051]: manager->init
[ WARN] [1530220423.510334035]: SET TO GAZEBO MODE!
/dev/ttyUSB0 added. (baudrate: 2000000)
[PortHandlerLinux::SetupPort] Error opening serial port!
(/dev/ttyUSB0) [ID:  1]         XM-430 added. 
(/dev/ttyUSB0) [ID:  2]         XM-430 added. 
(/dev/ttyUSB0) [ID:  3]         XM-430 added. 
(/dev/ttyUSB0) [ID:  4]         XM-430 added. 
(/dev/ttyUSB0) [ID:  5]         XM-430 added. 
(/dev/ttyUSB0) [ID:  6]         XM-430 added. 
(/dev/ttyUSB0) [ID:  7]         XM-430 added. 
(/dev/ttyUSB0) [ID:  8]         XM-430 added. 
(/dev/ttyUSB0) [ID:  9]         XM-430 added. 
(/dev/ttyUSB0) [ID: 10]         XM-430 added. 
(/dev/ttyUSB0) [ID: 11]         XM-430 added. 
(/dev/ttyUSB0) [ID: 12]         XM-430 added. 
(/dev/ttyUSB0) [ID: 13]         XM-430 added. 
(/dev/ttyUSB0) [ID: 14]         XM-430 added. 
(/dev/ttyUSB0) [ID: 15]         XM-430 added. 
(/dev/ttyUSB0) [ID: 16]         XM-430 added. 
(/dev/ttyUSB0) [ID: 17]         XM-430 added. 
(/dev/ttyUSB0) [ID: 18]         XM-430 added. 
(/dev/ttyUSB0) [ID: 19]         XM-430 added. 
(/dev/ttyUSB0) [ID: 20]         XM-430 added. 
(/dev/ttyUSB0) [ID:200]        OPEN-CR added. 
[ WARN] [1530220423.533925986]: Fail to load offset yaml.
[ WARN] [1530220423.884031276]: Head control - angle unit : 35
[ INFO] [1530220424.012289559]: Go to init pose
[ INFO] [1530220424.013711807]: Base Module is enabled
[ INFO] [1530220442.884850419, 18.175000000]: [start] send trajectory
[ INFO] [1530220445.892434368, 21.128000000]: previous task is alive
[ INFO] [1530220446.962693458, 22.182000000]: [end] send trajectory
[ INFO] [1530220492.025792088, 66.594000000]: Base Module is enabled
[ INFO] [1530220492.025865404, 66.594000000]: Walking Enable
[ INFO] [1530220560.005912971, 102.881000000]: Walking Disable
[ INFO] [1530220581.419480969, 105.881000000]: Succeed to start page 122

from robotis-op3.

kaym9n commented on July 24, 2024

easier way to restart the robot simulation from initial pose after it falls from walking
How about Using Reset Model Poses(Edit -> Reset Model Poses) instead of restarting gazebo.
becoming a "box"
I think when OP3 is getting up, some friction problem is happened. I also do not know much about this issue. I'm sorry I can not help you any more.

from robotis-op3.

hayday100 commented on July 24, 2024

It sounds like friction is a very common problem in simulators which gives the robots difficulty to walk stably in a virtual environment. The community NAO gazebo simulator seems to share the same problem. When it comes to the comparison of OP3 with NAO, your strength is being open-source. However, your robot is more expensive and there is no Python API for the time being. OP3 gripping hands will add extra cost while NAO has gripping hands coming with it. Any insights?

from robotis-op3.

robotpilot commented on July 24, 2024

Hi @hayday100,

Thank you for your consideration and supports. I would greatly appreciate it. Your comments are a great help to us, and your interest and support will allow us to grow an open project that we are working together. We will take the feedback of you and other customers and will do our best to make better products and support you.

I'm going to close this until you update the issue with more information. You can reopen this issue to show this issue to the users whenever. Once again, thank you for your help and supports. :)

from robotis-op3.

op3 simulation not responding about robotis-op3 HOT 11 CLOSED

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