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Pepper model falls at startup

asked 2018-01-10 06:59:47 -0500

fqez gravatar image

Hello!

I've been recently playing with the official ROS simulated Pepper in Gazebo and I'm facing a little problem. When I launch the example (using roslaunch) and start the simulation, the robot starts falling very slowly ( here's a video showing the problem).

The only error trace that roslaunch shows is:

[ERROR] [1515588569.033999191]: GazeboRosDiffDrive Plugin missing <legacyMode>, defaults to true
This setting assumes you have a old package, where the right and left wheel are changed to fix a former code issue
To get rid of this error just set <legacyMode> to false if you just created a new package.
To fix an old package you have to exchange left wheel by the right wheel.
If you do not want to fix this issue in an old package or your z axis points down instead of the ROS standard defined in REP 103
just set <legacyMode> to true.

I'm working with ROS Kinetic and Gazebo 7.9.0. The model I'm using is the one included in the debian packages for ROS kinetic.

Am I doing something wrong? Or am I missing a package or something?

Thanks in advance.

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Comments

1

The GazeboRosDiffDrive error seems unrelated to the problem. Could you please specify what packages are you installing and what roslauch command are you using? Thanks.

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2018-01-24 10:41:37 -0500 )edit

I too have the same issue. I am using the pepper_gazebo_plugin package (https://github.com/ros-naoqi/pepper_virtual). I tried using both the launch files (pepper_gazebo.launch and pepper_gazebo_plugin_Y20.launch) but in both the worlds the same issue persists. I think there is some problem with the urdf (https://groups.google.com/d/msg/ros-sig-aldebaran/GN85jo_2Ano/aUckNtDTCAAJ). Not sure how to fix it though.

akhadke gravatar imageakhadke ( 2018-02-22 17:45:40 -0500 )edit

Hi, sorry for the late reply.. I've installed every pepper gazebo related package from ROS kinetic. And the command I'm starting the simulation with is the following: roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch as shown in the video. Thanks!!

fqez gravatar imagefqez ( 2018-03-20 08:09:22 -0500 )edit

Is there no solution then? Based on your link akhadke.

fqez gravatar imagefqez ( 2018-03-21 12:46:12 -0500 )edit

3 Answers

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answered 2018-03-12 05:41:16 -0500

mingfei gravatar image

Hi, this error (GazeboRosDiffDrive Plugin missing <legacymode>) can be fixed by modifying the Pepper urdf file pepperGazebo.xacro:

To change the Drive controller part in pepperGazebo.xacro as follows:

Before:

<gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>100</updateRate>
    <robotNamespace>/</robotNamespace>
    <leftJoint>WheelFL</leftJoint>
    <rightJoint>WheelFR</rightJoint>
    <wheelSeparation>0.170</wheelSeparation>
    <wheelDiameter>0.140</wheelDiameter>
    <torque>36.9</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom_diffdrive</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <robotBaseFrame>base_footprint</robotBaseFrame>
  </plugin>
</gazebo>

Chang to:

<gazebo>
  <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
    <alwaysOn>true</alwaysOn>
    <legacyMode>false</legacyMode>
    <updateRate>100</updateRate>
    <robotNamespace>/</robotNamespace>
    <leftJoint>WheelFL</leftJoint>
    <rightJoint>WheelFR</rightJoint>
    <wheelSeparation>0.170</wheelSeparation>
    <wheelDiameter>0.140</wheelDiameter>
    <torque>36.9</torque>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom_diffdrive</odometryTopic>
    <odometryFrame>odom</odometryFrame>
    <odometrySource>world</odometrySource>
    <publishTf>1</publishTf>
    <rosDebugLevel>na</rosDebugLevel>
    <wheelAcceleration>0</wheelAcceleration>
    <wheelTorque>5</wheelTorque>
    <robotBaseFrame>base_link</robotBaseFrame>
    <publishWheelTF>false</publishWheelTF>
    <publishWheelJointState>false</publishWheelJointState>
  </plugin>
</gazebo>

You can find the correct source code (error free) from my personal repository.

As for the robot falling down, I don't how to fix it yet.

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Comments

I will try that, thank you very much!

fqez gravatar imagefqez ( 2018-03-20 08:10:26 -0500 )edit

could you please submit the fix to the pepper repository, in the case you haven't do that?

Jose Luis Rivero gravatar imageJose Luis Rivero ( 2018-04-03 13:50:39 -0500 )edit
0

answered 2018-07-09 04:34:08 -0500

tony10012 gravatar image
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answered 2018-06-04 06:22:46 -0500

kosen gravatar image

Good afternoon folks.

Do you still have this "slow" falling problem of pepper in Gazebo ? If not, what was youe fix ? I'm not able to find a solution online for now.

I'm currently running Kinetic and Gazebo 7.12.0

If no solution id available yet, I might roll back to indigo. Do you know if pepper's simulation was running well on it ?

See you soon

Sincerely

Ps: After running the simulation for some time, I tried to drop pepper from ~2m high, alongside the red ball for comparison. The red red ball fall normally (as expected) but pepper is falling very slowly as he had almost no mass. I'm not used to URDF format, but are you sure there is not a weight factor conversion involved here?

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Comments

Hi! that's exactly my problem here. I'm also running ROS kinetic and gazebo 7. I've not been able to resolve it yet, but I will keep looking for a reason when I have time. Maybe you are right and the Pepper is lacking of mass. Will try to increase it, thanks for the tip!

fqez gravatar imagefqez ( 2018-06-07 11:30:34 -0500 )edit

@fqez; One of my colleague at the lab had an issue with Gazebo 7 for her work (she's also running Kinetic). Even if her work is not related to pepper, moving to Gazebo 8.5 seems to have solve her problem. I don't have time know to update my Gazebo to 8.5, but it might be an interesting (and pretty easy) test to do with this pepper simulation.

kosen gravatar imagekosen ( 2018-06-14 06:02:12 -0500 )edit
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Asked: 2018-01-10 06:59:47 -0500

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Last updated: Jul 09