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2015-10-31 12:31:00 -0600 marked best answer cloudsim spawns high CPU instance (paid) on free EC2 AWS

I installed cloudsim on AWS EC2 free version micro instance. After some trouble and heartache with the installation, it finally worked. However, when I went to launch a drc simulation instance, it stated that it was spawning a High GPU instance in order to run the simulation. I am fully away aware of the heavy requirements that drcsim needs to perform the rendering and calculations. However, I was surprised that it was allowed to spawn a High CPU instance from within my free EC2. When I contacted AWS, they confirmed that indeed the instance it was spawning to run the simulation is a paid service and somewhat expensive at that. Is there a way to force cloudsim to spawn all its instances using only the free micro version of AWS EC2? Are we expected to pay for the High GPU model in order to run cloudsim? Is there another way for us to run cloudsim?

2015-10-31 12:30:25 -0600 marked best answer controlling drc simulator from external program

I am wondering where I might find example code on controlling and reading sensor data in the drc simulator from an external program controller? Every piece of documentation I found merely discusses controlling the gazebo from within a plugin that gazebo will itself load. I found a black page on ros that is title about controlling gazebo from ros, but as I said, the page is blank and therefore useless. So, where might find examples of using this with an external program controller and NOT a plugin? And how about examples on reading the sensor data from something other an XML type file that the simulator loads?

Thanks

2015-10-31 12:30:10 -0600 marked best answer Unable to install drcsim and gazebo on Ubuntu 12.04 or 12.10

When i try to install drcsim, gazebo, or ros i get the following errors on both Ubuntu 12.04 as well as 12.10. I have tried multiple times to install and have the followed the directions on the site. I get the following errors when i try.

Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 drcsim : Depends: gazebo (>= 1.2.0) but it is not going to be installed
          Depends: ros-fuerte-pr2-mechanism but it is not going to be installed
          Depends: ros-fuerte-std-msgs but it is not going to be installed
          Depends: ros-fuerte-common-msgs but it is not going to be installed
          Depends: ros-fuerte-image-common but it is not going to be installed
          Depends: ros-fuerte-geometry but it is not going to be installed
          Depends: ros-fuerte-pr2-controllers but it is not going to be installed
          Depends: ros-fuerte-geometry-experimental but it is not going to be installed
          Depends: ros-fuerte-robot-model-visualization but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
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2013-11-08 12:55:07 -0600 commented answer Building Gazebo from Source and still having ROS Integration

Well, this will be harder then i thought. I am unable to install catkininitworkspace. So I posted on answers.ros.org and will await an answer.

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2013-11-07 03:01:09 -0600 asked a question Building Gazebo from Source and still having ROS Integration

There is a set of FAQ at http://gazebosim.org/wiki/Install/GazeboandROS which talks about integration of Gazebo and ROS. However, for my purposes, I am required to be able to build Gazebo frequently and make changes to it, while also still using ROS. I am using Ubuntu 13.10 and have downloaded the source code for Gazebo, made some changes, and built it, but now need to integrate ROS. How might I go about doing such a thing?

2013-11-07 02:29:34 -0600 commented answer Tons of Errors building Gazebo on Ubuntu 13.10

I was able to compile the code, however I had some trouble running it after the install. The path would be /usr/local/lib for the libgazebo* librarys i thought but instead it is /usr/local/lib/x86_64-linux-gnu/ on my system. Once I figured that out using find -name "libgazebo*" and corrected the bashrc I am able to launch gazebo now. Next comes ROS hookup.

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2013-11-06 11:41:22 -0600 commented answer Tons of Errors building Gazebo on Ubuntu 13.10

I deleted the entire directory after performing a custom build of simbody, and performing the install command nkoenig gave. When I did that, and redownloaded the code, cmake completed without errors. I am in the process of building it now.

2013-11-06 11:38:56 -0600 commented answer Tons of Errors building Gazebo on Ubuntu 13.10

That command succeeded.

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2013-11-05 21:04:50 -0600 commented question Tons of Errors building Gazebo on Ubuntu 13.10

Below is the environment variables. I am not sure what to be looking for in them though.

2013-11-05 21:03:31 -0600 answered a question Tons of Errors building Gazebo on Ubuntu 13.10
dev@dev-700Z7C:~$ env
XDG_VTNR=7
SSH_AGENT_PID=2220
XDG_SESSION_ID=c2
CLUTTER_IM_MODULE=xim
SESSION=ubuntu
GPG_AGENT_INFO=/run/user/1000/keyring-ck7G7c/gpg:0:1
TERM=xterm
XDG_MENU_PREFIX=gnome-
SHELL=/bin/bash
VTE_VERSION=3406
WINDOWID=65011719
UPSTART_SESSION=unix:abstract=/com/ubuntu/upstart-session/1000/2149
GNOME_KEYRING_CONTROL=/run/user/1000/keyring-ck7G7c
GTK_MODULES=overlay-scrollbar:unity-gtk-module
USER=dev
LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arj=01;31:*.taz=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lz=01;31:*.xz=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.jpg=01;35:*.jpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.axv=01;35:*.anx=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.axa=00;36:*.oga=00;36:*.spx=00;36:*.xspf=00;36:
XDG_SESSION_PATH=/org/freedesktop/DisplayManager/Session0
XDG_SEAT_PATH=/org/freedesktop/DisplayManager/Seat0
SSH_AUTH_SOCK=/run/user/1000/keyring-ck7G7c/ssh
SESSION_MANAGER=local/dev-700Z7C:@/tmp/.ICE-unix/2278,unix/dev-700Z7C:/tmp/.ICE-unix/2278
DEFAULTS_PATH=/usr/share/gconf/ubuntu.default.path
XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/usr/share/upstart/xdg:/etc/xdg
PATH=/usr/lib/lightdm/lightdm:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games
DESKTOP_SESSION=ubuntu
JOB=dbus
PWD=/home/dev
XMODIFIERS=@im=ibus
GNOME_KEYRING_PID=2147
LANG=en_US.UTF-8
GDM_LANG=en_US
MANDATORY_PATH=/usr/share/gconf/ubuntu.mandatory.path
UBUNTU_MENUPROXY=1
IM_CONFIG_PHASE=1
COMPIZ_CONFIG_PROFILE=ubuntu
GDMSESSION=ubuntu
SESSIONTYPE=gnome-session
SHLVL=1
XDG_SEAT=seat0
HOME=/home/dev
LANGUAGE=en_US ...
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2013-11-05 20:00:28 -0600 commented answer Tons of Errors building Gazebo on Ubuntu 13.10

Yes I did, the output of it at the bottom of the other answer I just posted.

2013-11-05 19:47:04 -0600 answered a question Tons of Errors building Gazebo on Ubuntu 13.10

I tried to install from source for the Gazebo 2.0 vesion. The following is the output from dpkg as well as from the install dependencies portion of the source installation guide:

    dev@dev-700Z7C:~$ dpkg -l | grep libogre 
    ii  libogre-1.7.4:amd64                       1.7.4+dfsg1-7                           amd64        3D Object-Oriented Graphics Rendering Engine (libraries)
    ii  libogre-1.8.0:amd64                       1.8.1+dfsg-0ubuntu1                     amd64        3D Object-Oriented Graphics Rendering Engine (libraries)

    dev@dev-700Z7C:~$ dpkg -l | grep libboost
    ii  libboost-all-dev                          1.53.0.0ubuntu2                         amd64        Boost C++ Libraries development files (ALL) (default version)
    ii  libboost-atomic-dev:amd64                 1.53.0.0ubuntu2                         amd64        atomic data types, operations, and memory ordering constraints (default version)
    ii  libboost-atomic1.53-dev:amd64             1.53.0-6+exp3ubuntu8                    amd64        atomic data types, operations, and memory ordering constraints
    ii  libboost-atomic1.53.0:amd64               1.53.0-6+exp3ubuntu8                    amd64        atomic data types, operations, and memory ordering constraints
    ii  libboost-chrono-dev:amd64                 1.53.0.0ubuntu2                         amd64        C++ representation of time duration, time point, and clocks (default version)
    ii  libboost-chrono1.53-dev:amd64             1.53.0-6+exp3ubuntu8                    amd64        C++ representation of time duration, time point, and clocks
    ii  libboost-chrono1.53.0:amd64               1.53.0-6+exp3ubuntu8                    amd64        C++ representation of time duration, time point, and clocks
    ii  libboost-context-dev:amd64                1.53.0.0ubuntu2                         amd64        provides a sort of cooperative multitasking on a single thread (default version)
    ii  libboost-context1.53-dev:amd64            1.53.0-6+exp3ubuntu8                    amd64        provides a sort of cooperative multitasking on a single thread
    ii  libboost-context1.53.0:amd64              1.53.0-6+exp3ubuntu8                    amd64        provides a sort of cooperative multitasking on a single thread
    ii  libboost-date-time-dev:amd64              1.53.0.0ubuntu2                         amd64        set of date-time libraries based on generic programming concepts (default version)
    ii  libboost-date-time1.49.0                  1.49.0-4                                amd64        set of date-time libraries based on generic programming concepts
    ii  libboost-date-time1.53-dev:amd64          1.53.0-6+exp3ubuntu8                    amd64        set of date-time libraries based on generic programming concepts
    ii  libboost-date-time1.53.0:amd64            1.53.0-6+exp3ubuntu8                    amd64        set of date-time libraries based on generic programming concepts
    ii  libboost-dev:amd64                        1.53.0.0ubuntu2                         amd64        Boost C++ Libraries development files (default version)
    ii  libboost-exception-dev:amd64              1.53.0.0ubuntu2                         amd64        set of date-time libraries based on generic programming concepts (default version)
    ii  libboost-exception1.53-dev:amd64          1.53.0-6+exp3ubuntu8                    amd64        set of date-time libraries based on generic programming concepts
    ii  libboost-filesystem-dev:amd64             1.53.0.0ubuntu2                         amd64        filesystem operations (portable paths, iteration over directories, etc) in C++ (default version)
    ii  libboost-filesystem1.53-dev:amd64         1.53.0-6+exp3ubuntu8                    amd64        filesystem operations (portable paths, iteration over directories, etc) in C++
    ii  libboost-filesystem1.53.0:amd64           1.53.0-6+exp3ubuntu8                    amd64        filesystem operations (portable paths, iteration over directories, etc) in C++
    ii  libboost-graph-dev:amd64                  1.53.0.0ubuntu2                         amd64        generic graph components and algorithms in C++ (default version)
    ii  libboost-graph-parallel-dev               1.53.0.0ubuntu2                         amd64        generic graph components and algorithms in C++ (default version)
    ii  libboost-graph-parallel1.53-dev           1.53.0-6+exp3ubuntu8                    amd64        generic graph components and algorithms in C++
    ii  libboost-graph-parallel1.53.0             1.53.0-6+exp3ubuntu8                    amd64 ...
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2013-11-05 19:41:04 -0600 commented question Tons of Errors building Gazebo on Ubuntu 13.10

dev@dev-700Z7C:~$ dpkg -l | grep libogre ii libogre-1.7.4:amd64 1.7.4+dfsg1-7 amd64 3D Object-Oriented Graphics Rendering Engine (libraries) ii libogre-1.8.0:amd64 1.8.1+dfsg-0ubuntu1 amd64 3D Object-Oriented Graphics Rendering Engine (libraries) dev@dev-700Z7C:~$ dpkg -l | grep libboost ii libboost-all-dev 1.53.0.0ubuntu2 amd64 Boost

2013-11-05 08:54:29 -0600 asked a question Tons of Errors building Gazebo on Ubuntu 13.10

When I try to build gazebo, and I have been trying for 2 hours now. I receive many errors. I have installed every boost library i can think of, ogre, sdf, etc, etc etc. And it still will not compile. It still tells me I need boost. Boost is already installed. The output of cmake reads:

:~/Code/gazebo_maps/build$ cmake ../
-- Gazebo version 2.0.0
-- Found CPack generators: DEB
-- High memory tests: enabled
-- 

====== Finding 3rd Party Packages ======
-- Operating system is Linux
-- checking for module 'freeimage>='
Must specify package names on the command line
--   package 'freeimage>=' not found
--   freeimage.pc not found, trying freeimage_include_dir and freeimage_library_dir flags.
--   Looking for FreeImage.h - found
--   Looking for libfreeimage - found
-- checking for module 'libprofiler'
--   package 'libprofiler' not found
-- Looking for libprofiler - not found
-- checking for module 'libtcmalloc'
--   package 'libtcmalloc' not found
-- Looking for libtcmalloc - not found
-- Looking for CEGUI, found
-- Looking for CEGUI-OGRE, found
CMake Warning at cmake/SearchForStuff.cmake:130 (find_package):
  By not providing "FindSimbody.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Simbody", but
  CMake did not find one.

  Could not find a package configuration file provided by "Simbody" with any
  of the following names:

    SimbodyConfig.cmake
    simbody-config.cmake

  Add the installation prefix of "Simbody" to CMAKE_PREFIX_PATH or set
  "Simbody_DIR" to a directory containing one of the above files.  If
  "Simbody" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:149 (include)


--  Simbody not found, for simbody physics engine option, please install libsimbody-dev.
-- Looking for tinyxml.h - found
-- Looking for libtar.h - found
Package OGRE was not found in the pkg-config search path.
Perhaps you should add the directory containing `OGRE.pc'
to the PKG_CONFIG_PATH environment variable
No package 'OGRE' found
CMake Error at cmake/SearchForStuff.cmake:187 (string):
  string sub-command REPLACE requires at least four arguments.
Call Stack (most recent call first):
  CMakeLists.txt:149 (include)


-- checking for module 'OGRE-Overlay'
--   package 'OGRE-Overlay' not found
--  Failed to find OGRE's plugin directory.  The build will succeed, but gazebo will likely fail to run.
-- checking for module 'libswscale'
--   package 'libswscale' not found
--  libswscale not found. Audio-video capabilities will be disabled.
-- checking for module 'libavformat'
--   package 'libavformat' not found
--  libavformat not found. Audio-video capabilities will be disabled.
-- checking for module 'libavcodec'
--   package 'libavcodec' not found
--  libavcodec not found. Audio-video capabilities will be disabled.
-- checking for modules 'playercore>=3.0;playerc++'
--   package 'playercore>=3.0' not found
--   package 'playerc++' not found
--  Player not found, gazebo plugin for player will not be built.
-- checking for module 'gts'
--   package 'gts' not found
--  GNU Triangulation Surface library not found - Gazebo will not have CSG support.
-- Boost version: 1.53.0
CMake Error at /usr/share/cmake-2.8/Modules/FindBoost.cmake:1126 (message):
  Unable to find the requested Boost libraries.

  Boost version: 1.53.0

  Boost include path: /usr/include

  The following Boost libraries could not be found:

      boost_signals
      boost_system
      boost_filesystem
      boost_program_options
      boost_regex
      boost_iostreams

  Some (but not all) of the ...
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2013-08-11 23:34:59 -0600 commented question Gazebo_Ros_Pkgs for hydro error with gazebo 1.9.0

I finally have it working. I installed from source, and had the same error as before. It turns out, something was wrong with the package paths. I installed the prerelease of gazebo. Then I deleted the source folders or hydro and gazebo. I deleted the .gazebo and .ros folders from user directory. Then I installed ros-hydro- which uninstalled gazebo-prerelease. Then I edited the .bashrc paths removing the unnecessary ones. Finally I reinstalled the ros-hydro-rosbash, rosbuild, etc. It works now.

2013-08-09 23:21:52 -0600 commented question Gazebo_Ros_Pkgs for hydro error with gazebo 1.9.0

I was tired when I installed this, but I think my mistake was following all the directions. First I installed Gazebo on Ubuntu 13.04. I already had ROS Groovy Installed. I checked to make sure Gazebo worked and it did. I think I may have forgotten to uninstall the groovy packages to switch to hydro. Then I believe I may have installed the debs, and then done a source code build of hydro and and gazeborospkgs. Then I tried to run the above and received an error. I will try to uninstall & retry.

2013-08-09 13:46:51 -0600 asked a question Gazebo_Ros_Pkgs for hydro error with gazebo 1.9.0

I am following the directions at:

http://gazebosim.org/wiki/Tutorials/1.9/Installinggazeboros_Packages

I built the ros hydro package and integrated it with gazebo 1.9.0 however when i run the commands in separate terminal widows:

roscore &
rosrun gazebo_ros gazebo

I recieve the following error at the command line and no gazebo window:

Gazebo multi-robot simulator, version 1.9.0
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Warning [parser.cc:353] No <sdf> element in file[/home/dev/ros_catkin_ws/install_isolated/lib/libgazebo_ros_paths_plugin.so]
Error [parser_urdf.cc:2617] Unable to load file[/home/dev/ros_catkin_ws/install_isolated/lib/libgazebo_ros_paths_plugin.so].
Warning [parser.cc:353] No <sdf> element in file[urdf file]
Error [parser.cc:270] parse as old deprecated model file failed.
Error [Server.cc:289] Unable to read sdf file[/home/dev/ros_catkin_ws/install_isolated/lib/libgazebo_ros_paths_plugin.so]
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost::lock_error
.............................
Error [ConnectionManager.cc:116] Failed to connect to master in 30 seconds.
/home/dev/code/catkin_workspace/src/gazebo_ros_pkgs/gazebo_ros/scripts/gazebo: 25: kill: invalid signal number or name: SIGINT

Any ideas on how to solve this issue? gazebo will run fine alone if just typing gazebo in the terminal. However as run in the above, it produces an error.

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2013-05-10 15:47:25 -0600 commented answer Failures when launching qualification worlds

I am sorry for the mistake. The computer I am using advertises an NVIDIA card in it. I thought they meant the primary graphics card was an NVIDIA. What they meant, and did not advertise, is that while yes it does have an NVIDIA card in it, the primary two adapters are NOT NVIDIA. They are Intel. Sorry for the mistake on my part.

2013-05-10 15:37:50 -0600 commented answer DRC robot falls when rotating in place

Thank you.

2013-05-10 15:35:27 -0600 commented answer Failures when launching qualification worlds

I was running an Intel Card. Now I have switched to an NVIDIA card just now and have not had the problem yet. Need more time to test it out. The window seems to display each time now that I switched graphics cards.

2013-05-10 15:30:49 -0600 commented question DRC robot doesn't respond to commands

I am using drcsim 2.5. The commands I am running are `rosrun qual_task_1_bdi qual_task_1_bdi`. that is the package name I have written as well as the module (application) name I have written within the package. I am expecting the atlas robot to execute the entire chain of commands. Instead atlas will just sometimes execute a few of the commands and then totally stop running. Tried on both Intel and NVIDIA cards with same result.

2013-05-10 15:29:09 -0600 commented question DRC robot falls over in qualification worlds

I am running drcsim 2.5. I have tried on both an Intel Card and an NVIDIA Card and it will sometimes fall over immediately after spawning.

2013-05-10 15:26:05 -0600 commented question DRC robot falls over in qualification worlds

I am running drcsim 2.5. I have tried on both an Intel Card and an NVIDIA Card and it will sometimes fall over immediately after spawning.

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2013-05-03 16:13:29 -0600 asked a question DRCSIM: Why such erratic behavior when starting and running simulation?

First let me take the time to thank those working on drcsim and gazebo. It has alot of wonderful features and I have seen the active improvements at work. Thanks for the hard work and countless hours you have spent making these products.

Now, on to my topic of concern. I am wondering why the simulator seems to have such erratic behavior when starting and running the simulation? The following are the problems we are encountering:

1) When using roslaunch atlas_utils qual_task_x.launch to launch the simulator, you have to launch it 4-5 times before the simulator actually launches and runs alright. There are a number of issues that happen here.

  1. The simulator starts and gets stuck displaying no timing or anything on the window. Just a grey window.
  2. The simulator starts and then writes to the log file and never displays a window.
  3. The simulator starts and does not write to the log file, does not show a window, and yet thinks that it has fully started and is running.

2) When the simulator does actually launch, about 60% of the time, as soon the counter starts running and the atlas robot is initialized into the world, the atlas robot will immediately fall to the ground in a totally random direction without having received any input from the user, no input from any controller through rosrun, no input on keyboard or mouse, the atlas robot just falls in a random direction and crunches up.

3) When the simulator does start, and the atlas robot is successfully standing still waiting for commands, sometimes after using rosrun package_name module_name the atlas robot will stay standing still and not perform any commands at all as though it did not receive the command input. Instead the plugin must be stopped, and re-run and then (without recompiling or making any changes to the code) atlas robot will actually respond to the commands.

4) Sometimes when controlling the atlas robot using rosrun, atlas will execute a few commands and then stop and refuse to continue executing commands. The same controller plugin is able to be ran again without recompiling or altering the code in any way, and the controller will successfully get atlas to perform all the commands. It is just atlas sometimes randomly decides to stop performing commands.

5) When executing certain movement based commands, the atlas robot does not perform the same action any two times in a row even though it has been specifically told to perform the same thing it just did last simulation. For example, if you tell atlas to turn by x degrees, and then stand still, atlas might do the following:

  • Trial 1) Actually Turn X degrees and Successfully Stand Still
  • Trial 2) Actually Turn X degrees and fall to the right
  • Trial 3) Actually Turn X degrees and fall forward
  • Trial 4) Turn Y Degrees and fall backward
  • Trial 5) Turn Y Degrees and fall to the left

I realize that this is the product with which ... (more)

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