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atlas does not react in gazebo

asked 2013-07-06 08:34:12 -0600

Wally gravatar image

updated 2013-07-06 08:35:38 -0600

Hi, I'm knew to ROS and Gazebo. I'm trying to get familiar to the Gazebo and ROS with the DRC Environment. Therefore, I was trying the Tutorial in http://gazebosim.org/wiki/Tutorials/d... .

I can compile and build the Tutorial properly. Even, if I echo the published joint commands, I see the proper values that have been set. But the received JointStates don't change. I always get the same values for the position. As I don't have an nvidia Graphics Chip, I'm using the atlas_cpu_lidar.launch Launch-Files. Gazebo and RVIZ, both don't show any changes from the initial state of Atlas.

But somehow, if I try to teleoperate Atlas with "roslaunch atlas_utils keyboard_teleop.launch" I can make Atlas move.

Thank You

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answered 2013-07-06 10:23:27 -0600

jarevalo gravatar image

Try using AtlasCommand message instead. I had the same problem when the controller was updated. Plus you should check this tutorial http://gazebosim.org/wiki/Tutorials/drcsim/2.6/atlassiminterface because the Atlas needs to be in user mode to be controlled.

Hope it helps,

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answered 2013-07-06 10:30:17 -0600

Wally gravatar image

Thank you for your answer. Somehow, the AtlasCommand Message works. Maybe it's because of the k_effort parameter that can be set to 255.

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Asked: 2013-07-06 08:34:12 -0600

Seen: 49 times

Last updated: Jul 06 '13