pr2 / pr2_common_actions Goto Github PK

Please clearly outline the expected behaviors when untucking and tucking arms

trac data:

• Owner: wim
• Reporter: mwise
• Reported at: Fri Apr 16 14:09:48 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4187

{{{tuck_arms_main.py:183}}} refers to attributes {{{left}}} and {{{right}}} that don't exist:

{{{
rospy.logerr("Tuck or untuck arms FAILED: %d %d"%(result.left, result.right))
}}}

Traceback:

{{{
Exception in your execute callback: 'TuckArmsResult' object has no attribute 'left'
Traceback (most recent call last):
File "/opt/ros/diamondback/stacks/common/actionlib/src/actionlib/simple_action_server.py", line 294, in executeLoop
self.execute_callback(goal)
File "/opt/ros/diamondback/stacks/pr2_common_actions/pr2_tuck_arms_action/src/pr2_tuck_arms_action/tuck_arms_main.py", line 183, in executeCB
rospy.logerr("Tuck or untuck arms FAILED: %d %d"%(result.left, result.right))
AttributeError: 'TuckArmsResult' object has no attribute 'left'
}}}

trac data:

• Owner: mwise
• Reporter: tfield
• Reported at: Sat Mar 5 14:51:34 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5058

Currently at https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common_actions/trunk

Also migrate issues.

In trunk, pr2_tilt_laser_interface needs laser_scan_geometry:

{{{
[rosbuild] Building package pr2_tilt_laser_interface
Failed to invoke /opt/ros/cturtle/ros/bin/rospack deps-manifests pr2_tilt_laser_interface
[rospack] couldn't find dependency [laser_scan_geometry] of [
{{{
pr2_tilt_laser_interface
}}}

See http://build.willowgarage.com/view/cturtle_stack_devel/job/auto_stack_devel_cturtle_pr2_common_actions_lucid_amd64/1/ for more details.
]
[rospack] missing dependency
}}}

trac data:

• Owner: vpradeep
• Reporter: wim
• Reported at: Tue Aug 31 11:50:17 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4681

We can do this in pr2_robot when these packages become part of a stable stack.

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Fri Oct 29 14:05:16 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4868

It would be really nice to be able to get the profile currently in use by the LasserScanTrajController by calling a service.

trac data:

• Owner: vpradeep
• Reporter: eitan
• Reported at: Thu Apr 8 18:30:39 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4148

In my opinion there is an #include guard missing in http://www.ros.org/doc/api/move_arm_msgs/html/utils_8h_source.html.

trac data:

• Owner: sachinc
• Reporter: alex.herzog
• Reported at: Sat Jun 25 21:25:27 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5132

Stack should include:

• joint_trajectory_generator
• pr2_arm_ik_action
• pr2_tuck_arms_action
• pr2_tilt_laser_profile
• pr2_common_action_msgs
• pr2_switch_controllers

To move into this stack:

• stereo_wall_detection from pr2_plugs (when ported to PCL)

To remove:

• pr2_switch_controllers (better to create action-based spawner interface in pr2_controller_manager).

What to do with?

• joint_trajectory_action_tools

trac data:

• Owner: wim
• Reporter: wim
• Reported at: Tue Jun 1 13:49:28 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4389

See attached log from building trunk of pr2_tilt_laser_interface against C Turtle.

trac data:

• Owner: vpradeep
• Reporter: tfield
• Reported at: Sat Sep 18 15:09:18 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4728

Catkinize pr2_common_actions and release. Depends on catkinizing and releasing:

• pr2_arm_kinematics (from PR2/pr2_kinematics#2 )

The code in /opt/ros/cturtle/stacks/pr2_common_actions/pr2_tuck_arms_action/test/tuck_arms_test.py is not adapted anymore to the tuck_arm_action as it tries to acces a goal.untuck field which I do not see in the corresponding .action file.

trac data:

• Owner: wim
• Reporter: felix
• Reported at: Tue Feb 8 01:00:39 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5007

Using common 1.3.1, pr2_common_actions 0.3.2

{{{
[ERROR] [WallTime: 1294688920.745819] [35.715000] Exception in your execute callback: 'TuckArmsResult' object has no attribute 'left'
Traceback (most recent call last):
File "/opt/ros/unstable/stacks/common/actionlib/src/actionlib/simple_action_server.py", line 326, in executeLoop
self.execute_callback(goal)
File "/opt/ros/unstable/stacks/pr2_common_actions/pr2_tuck_arms_action/src/pr2_tuck_arms_action/tuck_arms_main.py", line 183, in executeCB
rospy.logerr("Tuck or untuck arms FAILED: %d %d"%(result.left, result.right))
AttributeError: 'TuckArmsResult' object has no attribute 'left'

}}}

trac data:

• Owner: mwise
• Reporter: watts
• Reported at: Mon Jan 10 13:23:42 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4955

https://code.ros.org/trac/wg-ros-pkg/ticket/4867

The PR2 tuck arms action can't handle multiple goals if they are separated by less than a second or so. If multiple goals are received, the PR2 arms lock up, and don't respond for about 30 seconds.

The SimpleActionServer probably needs to be changed to an ActionServer. If a goal is received while the arms are tucking, only the new goal should be honored. If the goal is the same, (ex: someone sends tuck command twice), it should be ignored.

trac data:

• Owner: wim
• Reporter: watts
• Reported at: Sun Apr 10 17:28:23 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5092

I'm trying to send an IK goal using the IK action, and I get this on rosout:

{{{
/r_arm_ik_action: Aborted: IK invalid
}}}

What should I change about my goal? The goal looks like this:

{{{
pose:
header:
seq: 0
stamp:
secs: 1290474914
nsecs: 120568037
frame_id: torso_lift_link
pose:
position:
x: 0.6
y: 0.6
z: 0.1
orientation:
x: 0
y: 0
z: 0
w: 1
tool_frame:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
ik_seed:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
name: ['r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint']
position: [-1.1200000000000001, -0.0, -1.5707963267948966, -2.0, 3.96, -0.66000000000000003, 13.32]
velocity: []
effort: []
ik_timeout:
secs: 0
nsecs: 0
move_duration:
secs: 3
nsecs: 0
}}}

trac data:

• Owner: wim
• Reporter: sglaser
• Reported at: Mon Nov 22 17:15:39 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4911

This looks like a fairly straightforward problem with tuck arms. I think a message field name changed or something.

{{{

[ERROR] [WallTime: 1300313930.427826] [1.013000] Exception in your execute callback: 'TuckArmsResult' object has no attribute 'left'
Traceback (most recent call last):
File "/opt/ros/diamondback/stacks/common/actionlib/src/actionlib/simple_action_server.py", line 294, in executeLoop
self.execute_callback(goal)
File "/wg/stor5_home4/watts/ros_heaphy/pr2_common_actions/pr2_tuck_arms_action/src/pr2_tuck_arms_action/tuck_arms_main.py", line 183, in executeCB
rospy.logerr("Tuck or untuck arms FAILED: %d %d"%(result.left, result.right))
AttributeError: 'TuckArmsResult' object has no attribute 'left'
}}}

trac data:

• Owner: wim
• Reporter: watts
• Reported at: Wed Mar 16 16:57:34 2011
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5079

You can cause pr2_arm_move_ik/arm_ik to crash by sending it a goal without the ik_seed data filled out. Suggest a check for array size around arm_ik.cpp:184. At the least, it should crash; even better would be to proceed without using the ik_seed data (if that's possible).

trac data:

• Owner: mwise
• Reporter: gerkey
• Reported at: Mon Sep 20 17:49:43 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4732

looks like this is probably linked to turning off intensity, or changing the scan min/max range.

trac data:

• Owner: vpradeep
• Reporter: vpradeep
• Reported at: Fri Sep 17 16:09:15 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4727

In learning ROS I noticed that tuck_arms.py doesn't seem to exit correctly when it should, either on an error condition or when quit_when_finished is true.

I've attached a diff for a modified version that calls rospy.signal_shutdown() instead of exit and appears to work correctly.

In the process I also added a usage() function to help newcomers understand how to use it.

Hope this might be helpful.

trac data:

• Owner: wim
• Reporter: mstyer
• Reported at: Tue Jun 29 18:06:43 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4504

This prevents us from creating a stable release

trac data:

• Owner: mwise
• Reporter: wim
• Reported at: Fri Oct 29 14:03:31 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4865

This script is used by the tuck_arm app, and that app calls the main function of the script, assuming it will tuck the arms (https://github.com/PR2/pr2_apps/blob/hydro-devel/pr2_tuckarm/scripts/tuck_arms.py) - that's the way it was in Groovy. The most recent version of tuck_arms_main.py, however, only launches the server, and doesn't actually do anything. I'm not sure if this is a bug here or there, but I'm inclined to think here, because in Groovy it used to work, and the pr2_apps didn't change anything.

In short, tucking arms from the command line doesn't work in Hydro at all, which is frustrating - the only way to tuck arms is to write your own script.

Can be trivially fixed by moving definition of {{{main()}}} before
{{{if name == 'main'}}}.

Workaround is to use {{{pr2_tuckarm}}} instead of {{{pr2_tuck_arms_action}}}.

How to reproduce:

{{{
$ rosrun pr2_tuck_arms_action tuck_arms_main.py

Traceback (most recent call last):
File "/opt/ros/electric/stacks/pr2_common_actions/pr2_tuck_arms_action/src/pr2_tuck_arms_action/tuck_arms_main.py", line 276, in
main()
NameError: name 'main' is not defined
}}}

trac data:

• Owner: mwise
• Reporter: martin_guenther
• Reported at: Thu Feb 23 02:22:52 2012
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/5184