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The simulated robot is currently checking collisions with the high-polygon count meshes instead of using a simpler blocky model.
This may be why the performance is so low with gazebo.
Essentially means the urdf must be revised.

The offset parameter of the DH parameters of the elbow joint need to be updated (5deg). The corresponding transform needs to be updated.

Issue by mikearagao
Thursday Feb 12, 2015 at 19:06 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/20

Fix the DH parameters on the matlab description files.

Issue by mikearagao
Thursday Feb 05, 2015 at 17:26 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/6

Substitute the the - by _ on the repository name.

The camera frame_id published on the camera_info topic is incorrect. The correct one should be "_camera_vision_link" instead of "_camera_link".

right and left wheel joints have to be switch for the plugin to work properly. Need to find the cause

Hi @plinioMoreno (+ @ruipimentelfigueiredo @joao-avelino),

Last summer, we started copying the documentation of Vizzy on the wiki associated to this repository, here:
https://github.com/vislab-tecnico-lisboa/vizzy/wiki

Personally, I think it would be good to put the remaining documentation (i.e., the PDF manual) on the wiki too, in order to (1) have it all in one place, (2) make it easily and quickly updatable in the browser, (3) facilitate the transition of knowledge if some of you ever leave the lab (I hope not! but just in case :) ).

Furthermore, it will still be possible to generate printable PDFs (from GitHub wiki Markdown syntax) by using tools like this one: https://www.npmjs.com/package/markdown-pdf

Issue by ruipimentelfigueiredo
Wednesday Feb 04, 2015 at 18:58 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/1

changed the push.sh to allow pushing to different branches

ruipimentelfigueiredo included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/1/commits

Issue by aba92
Monday Feb 16, 2015 at 18:08 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-simulator/issues/2

Hi!
When trying to install the eband-local-planner, i get the error:
Unable to locate package ros-hydro-eband-local-planner.
Where else i can find that package, i tried to search but with no success.
Thanks

Following the changes made in the gazebo-performance branch, since the urdf has been changed, the MoveIt! package needs to be regenerated before it can work once again.
Preferably we could have two versions: one which uses a simplified model of the hand and another with a more detailed mesh for collision (maybe even capable of grasping experiments).
As of right now, the detailed hand is not yet implemented, but the arm description file has an empty slot where it should be instanced.

Issue by ruipimentelfigueiredo
Wednesday Feb 04, 2015 at 18:58 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/1

changed the push.sh to allow pushing to different branches

ruipimentelfigueiredo included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/1/commits

Hi @plinioMoreno @ruipimentelfigueiredo @joao-avelino!

I noticed that the whole vizzy repository takes about 200MB at the moment, the majority of which due to the larges files in vizzy_navigation/maps (115MB).

Suggestion: host those large files elsewhere using Git Large File Storage, which looks like a nice possibility for these cases. Cloning/Working with the vizzy repository will be faster, while those files will still be available and maintainable on the "external" LFS reference.

After downloading the content of the whole Vizzy repository, when I tried to run, I got the following error

$ roslaunch vizzy_launch vizzy_simulation.launch use_yarp:=true navigation:=true

< a lot of stuff and then the error >
roslaunch.substitution_args.ArgException: use_yarp
while processing /home/pedro/catworkspace/src/vizzy-master/vizzy_moveit_config/launch/moveit.launch:
while processing /home/pedro/catworkspace/src/vizzy-master/vizzy_moveit_config/launch/planning_context.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/hydro/share/xacro/xacro.py '/home/pedro/catworkspace/src/vizzy-master/vizzy_description/robots/vizzy.urdf.xacro'] returned with code [1].

Param xml is < param command="$(find xacro)/xacro.py '$(find vizzy_description)/robots/vizzy.urdf.xacro'" if="$(arg load_robot_description)" name="$(arg robot_description)"/>

It seems that the file vizzy-master/vizzy_moveit_config/launch/planning_context.launch is incomplete.

The Gaze changes abruptly during some demos when the points are sent in a continuous way.

Possible problems:

• Target points with strange values.
• Bridge ROS/YARP, since this happens when controlling from ROS (we need to test with YARP).
• YARP BufferedPort reads only the last value (this can explain spikes during a sine trajectory).
• The operating system is not controlling in real time.

/cc @joao-avelino

Issue by mikearagao
Thursday Feb 05, 2015 at 15:42 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/3

mikearagao included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/3/commits

Create several launches for the most common tasks like gmapping, navigation on pre-obtained maps, upperbody control and so on.

Update the local planner from the eband (Elastic Band) local planner to the teb_local_planner (Timed Elastic Band)

Issue by mikearagao
Thursday Feb 05, 2015 at 16:56 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/5

@ruipimentelfigueiredo I'll do this asap! The real robot is now stable so the next version should be final 👍

Issue by plinioMoreno
Saturday Feb 07, 2015 at 17:20 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy_control/issues/1

These controllers should act like the yarp ones. So my question is: How are you going to implement the version-vergence controller?

Issue by mikearagao
Thursday Feb 05, 2015 at 17:33 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/7

Look to everything new and try to create a better and more useful documentation.

The current navigation algorithm in simulation is the "fake_localization", which for initial debugging was very useful, but for testing code for the real robot does not consider the execution times of the amcl in the real robot.

The amcl should be available in simulation, in order to have a more realistic simulation of the navigation algorithm.

Issue by mikearagao
Friday Feb 06, 2015 at 13:27 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/12

Fix the neck translation both on the matlab description files and on the URDF.

Issue by mikearagao
Thursday Feb 05, 2015 at 17:46 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-navigation/issues/1

Some chat needed to decide what files to remove and what files to keep.

Issue by mikearagao
Thursday Feb 05, 2015 at 17:26 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/6

Substitute the the - by _ on the repository name.

Add documentation regarding Vizzy's hardware

We should use Miguel Aragão's master thesis work to send vizzy's current fixation point (provided by the Ikin gaze controller) and the ball position (provided by Matteo's ball tracker) to ROS side, for visualization purposes.

If the clocks on Vizzy and a networked device (laptop for instance) are not synchronized tf's throw an exception.

The solution is here: http://wiki.ros.org/ROS/NetworkSetup#Timing_issues.2C_TF_complaining_about_extrapolation_into_the_future.3F

Issue by ruipimentelfigueiredo
Thursday Feb 05, 2015 at 15:41 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/2

Finished reorgnizing the files. Now everything is more readable and modular

ruipimentelfigueiredo included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/2/commits

Global cost map accumulates obstacle reports over time in simulation.
Vizzy fails to plan its navigation trajectories due to detecting objects even after they are removed.

Issue by mikearagao
Thursday Feb 12, 2015 at 00:11 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/19

Issue by mikearagao
Thursday Feb 05, 2015 at 20:36 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/9

Fix the meshes for the new Denavit–Hartenberg parameters.

In id_selector

Issue by mikearagao
Thursday Feb 12, 2015 at 00:09 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/18

Align files' names with the links' names.

Issue by mikearagao
Thursday Feb 05, 2015 at 15:42 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/3

mikearagao included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/3/commits

Issue by mikearagao
Thursday Feb 05, 2015 at 17:19 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-yarp/issues/7

Edit the kinematic files to align the values with the real robot setup

Issue by ruipimentelfigueiredo
Thursday Feb 05, 2015 at 15:55 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/4

ruipimentelfigueiredo included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/4/commits

Need to find the offset in the base_link to waist transformation, that is messing with the ikin gaze controller

Issue by mikearagao
Thursday Feb 05, 2015 at 17:33 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/7

Look to everything new and try to create a better and more useful documentation.

Issue by mikearagao
Thursday Feb 05, 2015 at 16:56 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/5

@ruipimentelfigueiredo I'll do this asap! The real robot is now stable so the next version should be final 👍

Issue by ruipimentelfigueiredo
Thursday Feb 05, 2015 at 15:55 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/4

ruipimentelfigueiredo included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/4/commits

@aba92 please start posting your issues on this repository... We will delete the old ones soon 😄

Issue by mikearagao
Thursday Feb 05, 2015 at 20:27 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/issues/8

Try to find more descriptive names for the robot structures.

Write all the instructions and important stuff about the package.

Issue by ruipimentelfigueiredo
Thursday Feb 05, 2015 at 15:41 GMT
Originally opened as https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/2

Finished reorgnizing the files. Now everything is more readable and modular

ruipimentelfigueiredo included the following code: https://github.com/vislab-tecnico-lisboa/vizzy-description/pull/2/commits