I am doing a simulation with op3. While I am using the foot planner, I met several pro

cannot call services means that <code class="notransl

Thanks, Kayman.You help me a lot. <span class="email-hidden-togg

Fail to get foot step from planner,about robotis-git/robotis-op3

kaym9n commented on July 24, 2024

Hi

Fisrt, Second one
I think you did now follow the tutorial of online walking.
Please see the tutorial and follow it.
When I checked it, I found the missing part in Run the program section.
Please run the op3_localization manually.
```
$ rosrun op3_localization op3_localization
```
Third one
I don't understand start pose. Could you give me more information about that?

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ddliu365 commented on July 24, 2024

Dear Kayman, Yes, I followed this tutorial. After running the op3_localization manually, it solved the first problem. However, the second problem still exists. "cannot call services" shows up after I click the plan button. [image: image.png] [image: image.png] Can you help me fix this problem? Best regards, Jack

…

On Tue, Dec 4, 2018 at 9:48 PM Kayman ***@***.***> wrote: Hi - Fisrt, Second one I think you did now follow the tutorial of online walking <https://urldefense.proofpoint.com/v2/url?u=http-3A__emanual.robotis.com_docs_en_platform_op3_tutorials_-23how-2Dto-2Dcontrol-2Dupgraded-2Dwalking-2Dusing-2Dfootstep-2Dplanner&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=bQs4R1mkEWfpVg9k-3LAlSkIsKPg3-xMNu2i27PNdho&s=D4xEXm6m4EThvdd3jcMsTRP-C_0Y-9kMo2Ny1Yryprk&e=> . Please see the tutorial <https://urldefense.proofpoint.com/v2/url?u=http-3A__emanual.robotis.com_docs_en_platform_op3_tutorials_-23how-2Dto-2Dcontrol-2Dupgraded-2Dwalking-2Dusing-2Dfootstep-2Dplanner&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=bQs4R1mkEWfpVg9k-3LAlSkIsKPg3-xMNu2i27PNdho&s=D4xEXm6m4EThvdd3jcMsTRP-C_0Y-9kMo2Ny1Yryprk&e=> and follow it. When I checked it, I found the missing part in Run the program section. Please run the op3_localization manually. $ rosrun op3_localization op3_localization - Third one I don't understand start pose. Could you give me more information about that? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444339118&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=bQs4R1mkEWfpVg9k-3LAlSkIsKPg3-xMNu2i27PNdho&s=orMm9f__DcG7r1Rcxf56gXEVrloLBOPQRFN2k0ytkCU&e=>, or mute the thread <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3UlG6mEPIzs-5FXh97YYGkFP2wb0Xcks5u1zQGgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=bQs4R1mkEWfpVg9k-3LAlSkIsKPg3-xMNu2i27PNdho&s=mDnYwQ7R6vcDffn_vkf7iyBpO7A80JpJif8y-9o5srA&e=> .

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kaym9n commented on July 24, 2024

cannot call services means that footstep_planner does not be launched. It's one of humanoid_navigation packages.
How about deleting the humanoid_navigation package and clone it from following link, compile it(catkin_make).

$ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git

ps. I can't see the pictures. :)

Best regards,
Kayman

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ddliu365 commented on July 24, 2024

I downloaded it and recompiled it. It does not work. problem 1: cannot call service. still exists so I just run $ roslaunch footstep_planner footstep_planner.launch manually run this run(don't know if it is correct, because there are many launch files in the footstep_planner package). After running this command, problem1 has disappeared. problem2 shows up. in the command window which runs footstep_planner, the error message is that "Distance map hasn't been initialized yet." I have no idea about this problem and not sure if the first method is correct. Can you help me please ? regards, Jack

…

On Wed, Dec 5, 2018 at 1:23 AM Kayman ***@***.***> wrote: cannot call services means that footstep_planner does not be launched. It's one of humanoid_navigation packages. How about deleting the humanoid_navigation package and clone it from following link <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_humanoid-5Fnavigation&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=HuSbNWKyhuwyynaJ92YB6otpkY4zUDv_h25DD4SujxE&e=>, compile it(catkin_make). $ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444373195&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=Up5tUqdeykKSvAXlENSUWeDly-3Ww8RHCjOT724-GwQ&e=>, or mute the thread <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3QvN3Qw12-5FkDUKoy1TD6aA6Z4gXNks5u12ZOgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=8qtLbIGborFmtJjwYp9ewiySkaEc5BZWA15mc7e6syY&e=> .

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ddliu365 commented on July 24, 2024

Dear Kayman, Then I tried different way. **"Distance map hasn't been initialized yet."** may be caused by the map service which has been launched in the footstep_planner.launch. Then, I launched the complete version of this footstep_planner `$ roslaunch footstep_planner footstep_planner_complete.launch` This launch will open a rviz gui again which I closed it manually. Then, I click the plan button in dynamixel gui. **Probem3 **shows up. In the command window which runs the footstep_planner_complete.launch, it shows up: **ERROR] [1544013860.495347652, 909.499000000]: Start pose (0.000000 0.000000 0.000000) not accessible.** The error message in the gui is that "fail to get foot step from planner" See the log for the details:

***@***.***:~/catkin_ws$ roslaunch footstep_planner footstep_planner.launch ... logging to /home/jack/.ros/log/a55a2902-f888-11e8-b81d-b06ebf5bcf8f/roslaunch-jack-16319.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://jack:45617/ SUMMARY ======== PARAMETERS * /footstep_planner/accuracy/cell_size: 0.01 * /footstep_planner/accuracy/collision_check: 2 * /footstep_planner/accuracy/num_angle_bins: 64 * /footstep_planner/allocated_time: 7.0 * /footstep_planner/changed_cells_limit: 20000 * /footstep_planner/diff_angle_cost: 0.0 * /footstep_planner/foot/max/inverse/step/theta: -0.4 * /footstep_planner/foot/max/inverse/step/x: -0.1 * /footstep_planner/foot/max/inverse/step/y: 0.12 * /footstep_planner/foot/max/step/theta: 0.7 * /footstep_planner/foot/max/step/x: 0.22 * /footstep_planner/foot/max/step/y: 0.28 * /footstep_planner/foot/origin_shift/x: 0.02 * /footstep_planner/foot/origin_shift/y: 0.0 * /footstep_planner/foot/separation: 0.14 * /footstep_planner/foot/size/x: 0.16 * /footstep_planner/foot/size/y: 0.1 * /footstep_planner/foot/size/z: 0.015 * /footstep_planner/footsteps/theta: [0.0, 0.0, 0.0, 0... * /footstep_planner/footsteps/x: [0.0, 0.22, 0.0, ... * /footstep_planner/footsteps/y: [0.14, 0.14, 0.26... * /footstep_planner/forward_search: False * /footstep_planner/heuristic_type: PathCostHeuristic * /footstep_planner/initial_epsilon: 8.0 * /footstep_planner/max_hash_size: 65536 * /footstep_planner/planner_type: ARAPlanner * /footstep_planner/search_until_first_solution: False * /footstep_planner/step_cost: 0.1 * /footstep_planner/step_range/x: [0.22, 0.22, -0.1... * /footstep_planner/step_range/y: [0.28, 0.12, 0.12... * /rosdistro: kinetic * /rosversion: 1.12.14 NODES / footstep_planner (footstep_planner/footstep_planner_node) ROS_MASTER_URI=http://localhost:11311 process[footstep_planner-1]: started with pid [16336] [ERROR] [1544013091.511449753, 334.345000000]: Distance map hasn't been initialized yet. [ERROR] [1544013753.358865051, 826.710000000]: Distance map hasn't been initialized yet. [ERROR] [1544013785.168840075, 850.940000000]: Distance map hasn't been initialized yet. ^[c^C[footstep_planner-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done ***@***.***:~/catkin_ws$ roslaunch footstep_planner footstep_planner_ footstep_planner_complete.launch footstep_planner_rstar_complete.launch footstep_planner_nao.launch ***@***.***:~/catkin_ws$ roslaunch footstep_planner footstep_planner_complete.launch ... logging to /home/jack/.ros/log/a55a2902-f888-11e8-b81d-b06ebf5bcf8f/roslaunch-jack-16891.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://jack:36243/ SUMMARY ======== PARAMETERS * /footstep_planner/accuracy/cell_size: 0.01 * /footstep_planner/accuracy/collision_check: 2 * /footstep_planner/accuracy/num_angle_bins: 64 * /footstep_planner/allocated_time: 7.0 * /footstep_planner/changed_cells_limit: 20000 * /footstep_planner/diff_angle_cost: 0.0 * /footstep_planner/foot/max/inverse/step/theta: -0.4 * /footstep_planner/foot/max/inverse/step/x: -0.1 * /footstep_planner/foot/max/inverse/step/y: 0.12 * /footstep_planner/foot/max/step/theta: 0.7 * /footstep_planner/foot/max/step/x: 0.22 * /footstep_planner/foot/max/step/y: 0.28 * /footstep_planner/foot/origin_shift/x: 0.02 * /footstep_planner/foot/origin_shift/y: 0.0 * /footstep_planner/foot/separation: 0.14 * /footstep_planner/foot/size/x: 0.16 * /footstep_planner/foot/size/y: 0.1 * /footstep_planner/foot/size/z: 0.015 * /footstep_planner/footsteps/theta: [0.0, 0.0, 0.0, 0... * /footstep_planner/footsteps/x: [0.0, 0.22, 0.0, ... * /footstep_planner/footsteps/y: [0.14, 0.14, 0.26... * /footstep_planner/forward_search: False * /footstep_planner/heuristic_type: PathCostHeuristic * /footstep_planner/initial_epsilon: 8.0 * /footstep_planner/max_hash_size: 65536 * /footstep_planner/planner_type: ARAPlanner * /footstep_planner/search_until_first_solution: False * /footstep_planner/step_cost: 0.1 * /footstep_planner/step_range/x: [0.22, 0.22, -0.1... * /footstep_planner/step_range/y: [0.28, 0.12, 0.12... * /rosdistro: kinetic * /rosversion: 1.12.14 NODES / footstep_planner (footstep_planner/footstep_planner_node) map_server (map_server/map_server) rviz (rviz/rviz) ROS_MASTER_URI=http://localhost:11311 process[map_server-1]: started with pid [16908] process[rviz-2]: started with pid [16909] process[footstep_planner-3]: started with pid [16917] [rviz-2] process has finished cleanly log file: /home/jack/.ros/log/a55a2902-f888-11e8-b81d-b06ebf5bcf8f/rviz-2*.log [ERROR] [1544013860.495347652, 909.499000000]: Start pose (0.000000 0.000000 0.000000) not accessible. Can you help me figure this error out?

Best regards, Jack

…

On Wed, Dec 5, 2018 at 1:23 AM Kayman ***@***.***> wrote: cannot call services means that footstep_planner does not be launched. It's one of humanoid_navigation packages. How about deleting the humanoid_navigation package and clone it from following link <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_humanoid-5Fnavigation&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=HuSbNWKyhuwyynaJ92YB6otpkY4zUDv_h25DD4SujxE&e=>, compile it(catkin_make). $ git clone https://github.com/ROBOTIS-GIT/humanoid_navigation.git — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444373195&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=Up5tUqdeykKSvAXlENSUWeDly-3Ww8RHCjOT724-GwQ&e=>, or mute the thread <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3QvN3Qw12-5FkDUKoy1TD6aA6Z4gXNks5u12ZOgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=IVSW305dCd-v2hFvMxaAdy85thC-gF0XusqWDNABvbA&s=8qtLbIGborFmtJjwYp9ewiySkaEc5BZWA15mc7e6syY&e=> .

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kaym9n commented on July 24, 2024

Is it right that you ran $ roslaunch op3_gui_demo op3_demo_walking.launch?

If you run the op3_gui_demo/launch/op3_demo_walking.launch, op3_navigation/launch/op3_footstep_planner.launch is run and footstep_planner is run also.

In your case, you ran footstep_planner manually except proper parameters. I think it's why footstep_planner did not work.

Please refer to launch file of op3_navigation package.

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ddliu365 commented on July 24, 2024

Thank you very much. I applied the above method and it works. I am working on the project with foot planning in uneven ground and 6D navigation. Is there a package in op3? If yes, how to change the file with less time? I try to use a vigil foot step planning in ros and it seems very hard to change. I don't know where should I change if I still want to use the Dynamixel guy like 2d foot planning for the online walking. Can you give me some guidance and tutorial about changing file in op3 package? Best regards, Jack

…

On Thu, Dec 6, 2018 at 12:12 AM Kayman ***@***.***> wrote: Is it right that you ran $ roslaunch op3_gui_demo op3_demo_walking.launch? If you run the op3_gui_demo/launch/op3_demo_walking.launch, op3_navigation/launch/op3_footstep_planner.launch is run and footstep_planner is run also. In your case, you ran footstep_planner manually except proper parameters. I think it's why footstep_planner did not work. Please refer to launch file of op3_navigation package <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3-2DTools_tree_master_op3-5Fnavigation_launch&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=WMC6Bfs2f6DW_4zBPM-k1MIno6EmG-Qqqlt4TztPqKc&e=> . — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444750762&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=sw0m7RsYw-6Uncv03IBACVUtvAHylKaSb2leDMNHcrA&e=>, or mute the thread <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3czGQ6Q6LBu-5FZ1rpUUK2MQuQz6Xgks5u2KdYgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=iuH7xvSIDKueJxTr2ltYM_zTwKBSwydr0NptNmV_3_Y&e=> .

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ddliu365 commented on July 24, 2024

Thank you very much. I applied the above method and it works. I am working on the project with foot planning in uneven ground and 6D navigation. Is there a package in op3? If yes, how to change the file with less time? I try to use a vigir foot step planning in ros and it seems very hard to change. I don't know where should I change if I still want to use the Dynamixel GUI like 2d foot planning for the online walking. Can you give me some guidance and tutorial about changing file in op3 package? Best regards, Jack

…

On Thu, Dec 6, 2018 at 12:12 AM Kayman ***@***.***> wrote: Is it right that you ran $ roslaunch op3_gui_demo op3_demo_walking.launch? If you run the op3_gui_demo/launch/op3_demo_walking.launch, op3_navigation/launch/op3_footstep_planner.launch is run and footstep_planner is run also. In your case, you ran footstep_planner manually except proper parameters. I think it's why footstep_planner did not work. Please refer to launch file of op3_navigation package <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3-2DTools_tree_master_op3-5Fnavigation_launch&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=WMC6Bfs2f6DW_4zBPM-k1MIno6EmG-Qqqlt4TztPqKc&e=> . — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D444750762&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=sw0m7RsYw-6Uncv03IBACVUtvAHylKaSb2leDMNHcrA&e=>, or mute the thread <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3czGQ6Q6LBu-5FZ1rpUUK2MQuQz6Xgks5u2KdYgaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=4uf-_WdAywTeQS-HwO-VuQPfnULFPdiqgIXJIycs440&s=iuH7xvSIDKueJxTr2ltYM_zTwKBSwydr0NptNmV_3_Y&e=> .

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kaym9n commented on July 24, 2024

We don't have a footstep planner for 6D in ROBOTIS-OP3.
And I have never used a vigir footstep planner.
I do not know if I can help you.

To use a GUI like OP3, you need to create it manually. It's created using an interactive marker.
Please refer to the source code of the marker part and the wiki.

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ddliu365 commented on July 24, 2024

Thanks, Kayman. You help me a lot.

…

On Sun, Dec 9, 2018 at 8:09 PM Kayman ***@***.***> wrote: We don't have a footstep planner for 6D in ROBOTIS-OP3. And I have never used a vigir footstep planner. I do not know if I can help you. To use a GUI like OP3, you need to create it manually. It's created using an interactive marker. Please refer to the source code of the marker part <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3-2DTools_blob_master_op3-5Fgui-5Fdemo_src_qnode-5Fpreview-5Fwalking.cpp&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=kVIcb_arkwTq_WO7bL67Timb-wh52GttKkulck5M3ks&s=EsfoY8qpPwZaUY5HscCoL93q2e1y4cj3fLfoyrkaaSU&e=> and the wiki <https://urldefense.proofpoint.com/v2/url?u=http-3A__wiki.ros.org_interactive-5Fmarkers&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=kVIcb_arkwTq_WO7bL67Timb-wh52GttKkulck5M3ks&s=BZdj_T2KG8flApgH8GPsGJmrEtQNN2fmiEUDgS9Po-s&e=> . — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_ROBOTIS-2DGIT_ROBOTIS-2DOP3_issues_54-23issuecomment-2D445607234&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=kVIcb_arkwTq_WO7bL67Timb-wh52GttKkulck5M3ks&s=bkvQY-n3QrvzxnwWrZE1bvrFVCMFbmGQ1-inIKqEm2o&e=>, or mute the thread <https://urldefense.proofpoint.com/v2/url?u=https-3A__github.com_notifications_unsubscribe-2Dauth_Ak6H3eZfleDyFH-2D6hQhWyb3N178f-5F4QGks5u3bQugaJpZM4ZBFga&d=DwMFaQ&c=slrrB7dE8n7gBJbeO0g-IQ&r=hkuqmUNuMbV2eMHNPYrllQ&m=kVIcb_arkwTq_WO7bL67Timb-wh52GttKkulck5M3ks&s=sXSjOp4mqWt1DMILOzvvMUSvTGiMNEA7bxZZxASBs2Q&e=> .

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kaym9n commented on July 24, 2024

I wish you luck.

Best regards,
Kayman

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Fail to get foot step from planner about robotis-op3 HOT 11 CLOSED

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