Environment for robot system development and experiments. `ay_trick` provides a CUI tool where you can interact with robots. Once the initialization including ROS communication setup is done, you do not have to do it again. You can run external Python scripts.
Home Page: http://akihikoy.net/notes/?text%2Fay_tools
License: Other
When setting up the Mikata6_SIM robot (simulation), there were errors.
The OS is Ubuntu 18.04, ROS distribution is melodic.
Command to setup:
trick or quit> robot 'mikata6s'
Errors:
Setup robot for Mikata6_SIM
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran1']/actuator[@name='motor1']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran2']/actuator[@name='motor2']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran3']/actuator[@name='motor3']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran4']/actuator[@name='motor4']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran5']/actuator[@name='motor5']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran6']/actuator[@name='motor6']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran7']/actuator[@name='motor7']
Unknown tag "hardwareInterface" in /robot[@name='open_manipulator']/transmission[@name='tran8']/actuator[@name='motor8']
Waiting for /follow_joint_trajectory... (t/o: 3.0, #: 1)
Waiting for /state_validity_checker/set_planning_scene_diff... (t/o: 3.0)
Failed to connect the service /state_validity_checker/set_planning_scene_diff
Error: timeout exceeded while waiting for service /state_validity_checker/set_planning_scene_diff
Waiting for /state_validity_checker/get_state_validity... (t/o: 3.0)
Failed to connect the service /state_validity_checker/get_state_validity
Error: timeout exceeded while waiting for service /state_validity_checker/get_state_validity
Waiting for /state_validity_checker/get_trajectory_validity... (t/o: 3.0)
Failed to connect the service /state_validity_checker/get_trajectory_validity
Error: timeout exceeded while waiting for service /state_validity_checker/get_trajectory_validity
Waiting for /state_validity_checker/get_allowed_collision_matrix... (t/o: 3.0)
Failed to connect the service /state_validity_checker/get_allowed_collision_matrix
Error: timeout exceeded while waiting for service /state_validity_checker/get_allowed_collision_matrix
Failed to setup robot: Mikata6_SIM
Note that this error is not critical. We can use the robot even after these errors.
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