-
Notifications
You must be signed in to change notification settings - Fork 134
FAQ
Some of these FAQ will be specific to RML infrastrucure but we will list everything here for clarity. Visit the Issue Tracker for software-related issues.
The joint arrays in spirit_msgs::RobotState are defined such that indices 0 = abad0, 1 = hip0, 2 = knee1, 3 = abad1, 4 = hip1, 5 = knee12, 6 = abad2, 7 = hip2, 8 = knee2, 9 = abad3, 10 = hip3, 11 = knee3. Legs are numbered such that 0 = front left, 1 = back left, 2 = front right, and 3 = back right. So calling state_msg.joints.positions[4] would give you the joint position of the back left hip motor.
Confusingly, Ghost Robotics does NOT use this definition, and instead has their urdf and /mcu/state/jointURDF use the following ordering: 0 = hip0, 1 = knee0, 2 = hip1, 3 = knee1, 4 = hip2, 5 = knee2, 6 = hip3, 7 = knee3, 8 = abd0, 9 = abd1, 10 = abd2, 11 = abd3. To correct this, our ground_truth_publisher.cpp reads their message and maps from their ordering to ours, see the joints_order_ vector in the source code . Likewise our estimator_plugin.cpp maps from the alphabetical order in Gazebo to our order.
The phone app requires the Ghost ROS service to be up and running. You can check if the service is active with
ssh ghost@<ghost-IP>
sudo service ghost status
If the service has failed this should reveal the source. Often this is because the IP address is invalid - in particular the ROS_IP and ROS_MASTER_URI parameters set in ~/.environment_vars.sh must be valid IPs. If they are set to the RML router IP (192.168.8.101) but that router is not connected, the service will fail. If operation without the RML router is desired, change the ROS_IP and ROS_MASTER_URI back to the GR default (192.168.168.105) and enter sudo service ghost restart.
ERROR: Unable to communicate with master!
No ROS master detected - if on the remote computer make sure to source launch_robot_env.sh (which sources the appropriate setup.bash). Otherwise you probably haven't issues and roslaunch commands yet.
Power cycle the USB ethernet adapter by turn on&off the USB hub port.
This typically happens when your system runs out of RAM while compiling. Try catkin build -j4 -l4, go even lower than 4 (this represents the number of parallel threads used while compiling), or try catkin build --this in the package you want to build to avoid compiling the whole workspace. Alternatively if you were running catkin test, try compiling just the source code first, then the tests after completion.
This could also be caused by other processes running in the background which may or not be ROS related. Sometimes nodes or tests that do not get terminated properly can consume significant resources in the background. Check to make sure you don't have something eating up your CPU overhead.
This appears to be a known issue when using interactive markers with NVidia drivers. It can be fixed by rebuilding OGRE with an updated version (and then also RViz) or reverting to Nouveau drivers, but most likely we will eliminate the use of interactive markers for this reason.
The setup.sh script should install all the required dependencies, if not then likely sudo apt update failed. Check your packages.
If this is your first time running the simulator, check that gazebo can launch properly. Running gazebo in the command line should bring up the gazebo GUI. If you get a symbol lookup error, update your ignition math library (as described here).
Note that Gazebo can be fickle and sometimes will crash due to no clear reason. Try launching again, or checking that there are no background gazebo instances already running (and kill them with killall -9 gzserver).