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Controlling Atlas over ROS topic in python disabled?

asked 2013-04-22 04:27:07 -0600

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Hello everybody, I updated to DRCsim 2.5 and since then Atlas doesn't respond to the python script, as described in this tutorial.

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answered 2013-04-22 12:17:35 -0600

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Interesting. I know the OSRF team typically goes through the tutorials after each new build and updates the tutorial language to support slight changes in the SDF format, or the scripts associated with the tutorials. However, given the crunch for the DARPA Robotics Challenge event coming up, this may have fallen off the table. Not sure what the scenario is here, but I will have a look and see if I can replicate your problem.

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answered 2013-04-22 12:59:20 -0600

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Thanks for the report. There's now an updated tutorial for drcsim 2.5.

Explanation:

In drcsim 2.5, the default startup behavior was changed to use the BDI-controlled stand, not the joint servo position hold. To engage PID control for this tutorial, the publishing node needed two changes:

  • publish the atlas_msgs/AtlasCommand message instead of the osrf_msgs/JointCommands message
  • in the atlas_msgs/AtlasCommand message, set all elements of the k_effort array to 255.
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Hi, Should this tutorial be changed too? I am using DRCsim2.5 and the robot doesn't respond. http://gazebosim.org/wiki/Tutorials/drcsim/2.2/sending_joint_controller_commands_over_ros

Zara gravatar imageZara ( 2013-05-09 22:18:43 -0600 )edit
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Asked: 2013-04-22 04:27:07 -0600

Seen: 250 times

Last updated: Apr 22 '13