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drcsim bitbucket version out of date: missing hand cameras [closed]

asked 2013-04-07 09:22:18 -0600

cga gravatar image

The version of drcsim loaded using

hg clone drcsim

is missing the hand cameras in the file /usr/local/share/drcsim-2.3/gazebo_models/atlas_description/atlas_sandia_hands/atlas_sandia_hands.urdf

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Closed for the following reason the question is answered, right answer was accepted by cga
close date 2013-04-07 19:06:20.605431

1 Answer

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answered 2013-04-07 11:54:32 -0600

gerkey gravatar image

You are probably building against an old version of sandia-hand that doesn't have the hand cameras. The hand cameras were introduced in sandia-hand version 5.1.12.

I just built drcsim/default against a binary installation of sandia-hand-5.1.12 and found the camera content in share/drcsim-2.3/gazebo_models/atlas_description/atlas_sandia_hands/atlas_sandia_hands.urdf (search for "multicamera").

More explanation, including a different, but related problem to look out for: When drcsim builds, it uses the xacro preprocessor to bring the sandia-hand URDF model content into the Atlas models. As a consequence, the version of the sandia-hand content that is used by drcsim is fixed at build time, and subsequent installation of a newer version of sandia-hand will not change it. So when a new sandia-hand is released, you must rebuild drcsim (we always create a new drcsim deb after creating a sandia-hand deb).

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Fixing the install order fixed this problem. Thanks, Chris

cga gravatar imagecga ( 2013-04-07 18:59:55 -0600 )edit

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Asked: 2013-04-07 09:22:18 -0600

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Last updated: Apr 07 '13