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2016-02-28 16:19:04 -0600 asked a question Is it possible to make a synchronous control with a sagital simulation only with Gazebo/Simbody?

Is it possible to make a synchronous control with a sagital simulation only with Gazebo/Simbody?

2015-10-31 12:31:08 -0600 marked best answer DRCSIM ROS Topics Synchronization.

Hello,

Is there any mechanism to efficiently synchronize DRCSIM ROS topics? In a real robot the synchronization would happen with the control system tick. However, as the clock, force sensors, joint states, etc... update at the "same time" i cannot be sure that all the other variables have already being updated when triggering my control with clock callback.

Best regards,

LR

2015-10-31 12:30:52 -0600 marked best answer DRC Robot Head meshes are missing when loading robot at drcsim v1.2

Title is self-explanatory but when I load DRC robot model a few head meshes are missing.

Regards,

LR

2015-10-31 12:30:22 -0600 marked best answer Can't find atlas_msgs pack after 2.3 update.

Hello,

After updating drcsim to version 2.3 it won't compile anymore my ROS application as it cannot find the package atlas_msgs anymore. How should i proceed?

Best regards,

LR

2015-10-31 12:13:04 -0600 marked best answer Atlas joints documentation. Where to find.

I am able to control all Atlas joints following tutorials, but the joints names are not always a good enough description to realize which one is which. Is there any document that describes which joints corresponds to which joint name?

Best regards,

LR

2015-10-31 12:11:56 -0600 marked best answer DRCSIM clock is published more than 1khz....

Hello,

I was creating a TCP/IP connection between my ROS node and Simulink to monitor and control the DRC Robot.

I was sending a TCP/IP message every time the simulation clock is published, and as Matlab is able block simulation to wait a message, i can "synchronize" my Simulink application with the clock callback (as long my IPC latency is small).

However i was noticing that Simulink simulation was counting time much faster than it should.

In order to understand what was going on i created a simple counter at my C++ ROS node that count up every time clock is published. Printing that value i noticed that it is growing up much faster than 1000/simulation_second (I believe about 3 times faster). The value carried by the clock structure is indeed correct.

Any help on that? Can we count that the clock will be published at 1khz (as stated at the user guide)? Or should i monitor its value...

2015-10-31 12:06:30 -0600 marked best answer Will the 1.2.2 Gazebo version de one presented at Darpa Robotics Challenge Kickoff?

Next week will happen the Darpa Robotics Challenge Kickoff with a tutorial on the simulator that will be used during the challenge. Will the 1.2.2 Gazebo version de one presented at Darpa Robotics Challenge Kickoff or you guys got a special version for the event?

Best regards,

Luis Filipe Rossi

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2013-05-15 09:27:05 -0600 commented answer How to replay .log files faster?

Thank you for the help. I was already filtering using the tutorial as advised iche033. I oppened the mkqual.bash and it uses the same command that i was using. Any advice on how to get a 1s/s update rate when playing the log?

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2013-05-15 09:23:23 -0600 commented answer How to replay .log files faster?

I did it.. now it is super fast.. but actuallly faster than it should be. Anyway to control the gazebo update rate so it will run in 1s/s rate?

2013-05-14 23:10:52 -0600 asked a question How to replay .log files faster?

Hello, Is it possible to replay .log files (generated for the vrc) faster? It is veeery slow when i replay here.. actually slower than the run itself (that got an 0.25 real time factor average).

Regards,

LR

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2013-05-07 10:44:59 -0600 commented answer Any C++ example for DRCSIM v2.5?

That helped. Thanks

2013-05-07 10:13:16 -0600 asked a question DRCSIM: The BDI tutorial is wrong...

I was testing the "Using Atlas Sim Interface" Turorial of the drcsim v2.5 but it seems to be wrong. The tutorial is using the structure currently described at the UserGuide but that is not what i got on my computer.

As an example, the stepqueue is actually called stepdata.

Other example, the walkstate is a sub-part of behaviorfeedback and not directly placed at the AtlasSimInterfaceState.

I believe the documentation and the tutorial are referring to a newer version. However I can't find any new updates.

Regards,

LR

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2013-04-25 11:23:04 -0600 asked a question Any C++ example for DRCSIM v2.5?

Just could find examples for python at DRCSIM v2.5 and my old C++ ROS node is not working anymore as we should disable BDI control and use AtlasCommands and not JointCommands anymore... There is any workaround for this problem?

2013-04-15 09:41:37 -0600 commented question DRCSIM: SDF bug prevents roslaunch from working.

Same problem here... Just before the error there are several warnings about SDF conversion. Not sure if it is related. Regards, LR

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2013-04-10 19:18:43 -0600 commented answer Can't find atlas_msgs pack after 2.3 update.

WHen i tryed "roscreate-pkg mypackage atlasmsgs" before it could not find atas_msgs. I am goint to try again and if it does not work i will come back here...

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