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create documentation for tuck arms (ros ticket #4187)
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
pr2_tuck_arms_action doesn't abort on failure (ros ticket #5058)
{{{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
Migrate pr2_common_actions to github
Currently at https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common_actions/trunk
Also migrate issues.
pr2_common_actions is missing dependency on laser_scan_geometry (ros ticket #4681)
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
Bring up trajectory_generator and tuck_arms up be default (ros ticket #4868)
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
Move pr2_tilt_laser_interface to new stack (ros ticket #4866)
Ability to get the current profile from the laser_tilt_controller (ros ticket #4148)
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
missing #include guard (ros ticket #5132)
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
Get pr2_common_actions ready for release in C-turtle (ros ticket #4389)
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
pr2_tilt_laser_interface: build fails (ros ticket #4728)
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
Catkinize pr2_common_actions and release. Depends on catkinizing and releasing:
- pr2_arm_kinematics (from PR2/pr2_kinematics#2 )
tuck_arm_test.py outdated. (ros ticket #5007)
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
Tuck arms script crashes in dturtle/unstable (ros ticket #4955)
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
Merge joint_trajectory_action_tools into baggies (ros ticket #4867)
Untucking both arms leaves right arm raised up higher (ros ticket #4650)
PR2 tuck arms action fails when sent multiple goals in quick succession (ros ticket #5092)
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
IK action's error messages aren't helpful (ros ticket #4911)
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
PR2 tuck arms fails in simulation, diamondback (ros ticket #5079)
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
pr2_arm_move_ik: check incoming goal data (ros ticket #4732)
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
pr2_tilt_laser_interface snapshotter server fails while changing hokuyo settings (ros ticket #4727)
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
tuck_arms.py fails to exit when requested (ros ticket #4504)
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
Remove deprecated pr2 tuck arms script (ros ticket #4963)
Remove dependency of pr2_arm_move_ik on pr2_kinematics (ros ticket #4865)
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
tuck_arms_main.py doesn't work properly
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.
tuck_arms_main.py calls main() before defining it (ros ticket #5184)
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
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