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Error creating a world for a biped robot

asked 2015-03-04 08:14:09 -0500

Paulo Filho gravatar image

I am trying to create a new world with my biped robot on the drcsim. Initially I want to keep my robot standing.

I have a robotic model modeled on URDF format. The model consists of only two hips connected by a chair and two legs, having active joints in the hips and knees. The joints of the ankles are passive. I want to create a controller that gives the joints a inital torque to keep the robot standing. I have been based on the atlas and drcsim package for my the .worlds .yaml .launch files.

My model: C:\fakepath\biprob.urdf.xacro.sdf C:\fakepath\biprob.gazebo.sdf

My launch files biprob.launch C:\fakepath\biprob.launch

biprobnocontrollers.launch C:\fakepath\biprobnocontrollers.launch

controllermanager.launch C:\fakepath\controllermanager.launch

My yaml file

C:\fakepath\leg_controllers.yaml

My world file

C:\fakepath\biprob.world

When I launch the biprob.launch have the following errors:

I think the fact that I'm using the plugin "libVRCPlugin.so" it is always waiting for the atlas "waiting for atlas robot to be spawned".

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"gazeboroscontrol plugin is waiting for model URDF in parameter [/robotdescription] on the ROS param server". and "No type element found for transmission righttran1"

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answered 2015-03-04 10:44:04 -0500

nkoenig gravatar image

I'd recommend against using the vrcplugin with your own custom robot. The vrcplugin was designed for the VRC, and has a lot of assumptions in the code.

You'll have an easier time developing a new robot if you use an empty simulation world with just a ground plane. Slowly add in extra features once you have stable controllers.

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The problem is that I am doing my project settings based on drcsim atlas, just when I take this plugin of my world file my robot is not loaded into the simulator. When the plugin is inserted into the world file my robot is loaded, but then it falls to the ground.

Paulo Filho gravatar imagePaulo Filho ( 2015-03-04 14:16:14 -0500 )edit
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Asked: 2015-03-04 08:14:09 -0500

Seen: 699 times

Last updated: Mar 04 '15