Error: Group 'leg_right' has mimic joint

[evenmarbles]

When launching the demo with

roslaunch nao_moveit_config demo.launch

the following error is thrown:

Group 'leg_right' has a mimic joint. Will not initialize dynamics solver

Trying to manipulate the leg_right change in rviz crashes the application.

[costashatz]

I am trying to find a solution.. I will post here if I find anything..Any news on that from your side? A quick fix would be to create the chain manually by selecting the joints, but then right leg would not be connected to base_link (torso) which is something we want to..

[mikaelarguedas]

I'm trying to find a solution too,
I think that we shoudl be able to find a solution at the URDF level. Some
kind of standard HipJoint that both LHipPitchYaw and RHipPitchYaw can
command. But I haven't tried anything in this direction yet. I'll let you
know if I find something.

2015-02-25 7:55 GMT-05:00 Konstantinos Chatzilygeroudis <
notifications@github.com>:

I am trying to find a solution.. I will post here if I find anything..Any
news on that from your side? A quick fix would be to create the chain
manually by selecting the joints, but then right leg would not be connected
to base_link (torso) which is something we want to..

—
Reply to this email directly or view it on GitHub
#3 (comment)
.

[costashatz]

Looking at whole body ik plugin by @davetcoleman , I am realizing that this mimic joint becomes a serious problem. A way to bypass it must be found. The repo won't be able to keep up with MoveIt! changes regarding humanoid/whole body ik improvements. Unless we edit everything to include mimic joints! 😛

So, I believe a focus towards that direction should be made (by-passing the mimic joint)...

[davetcoleman]

What is your need for a mimic joint? My plugin could support mimic joints, similar to how the KDL plugin does, I just removed that feature during development so that I had less to worry about (since I didn't need it).

[handcarbon]

Probably reason is following: "NAO LHipYawPitch and RHipYawPitch share the
same motor so they move simultaneously and symmetrically. In case of
conflicting orders, LHipYawPitch always takes the priority."

2015-02-26 21:30 GMT+02:00 Dave Coleman notifications@github.com:

What is your need for a mimic joint?

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#3 (comment)
.

[costashatz]

@davetcoleman : Can you implement support for mimic joint to your plugin? Or provide us with references to do it?

[davetcoleman]

i certainly do not have time to add new features. look at how the KDL kinematics plugin does it as a starting point. i'd be happy to review the changes

[costashatz]

Thanks!

[vrabaud]

thx @davetcoleman ! You're still awesome !

[zp2546265641]

hello, who can help me with the same problem! and so, do you have solved this problem?

[zp2546265641]

Looking at whole body ik plugin by @davetcoleman , I am realizing that this mimic joint becomes a serious problem. A way to bypass it must be found. The repo won't be able to keep up with MoveIt! changes regarding humanoid/whole body ik improvements. Unless we edit everything to include mimic joints! 😛

So, I believe a focus towards that direction should be made (by-passing the mimic joint)...
hello, and later, do you have solutions for such error? i need your help, thank you very much!

[zp2546265641]

I'm trying to find a solution too, I think that we shoudl be able to find a solution at the URDF level. Some kind of standard HipJoint that both LHipPitchYaw and RHipPitchYaw can command. But I haven't tried anything in this direction yet. I'll let you know if I find something.

2015-02-25 7:55 GMT-05:00 Konstantinos Chatzilygeroudis < notifications@github.com>:

I am trying to find a solution.. I will post here if I find anything..Any
news on that from your side? A quick fix would be to create the chain
manually by selecting the joints, but then right leg would not be connected
to base_link (torso) which is something we want to..
—
Reply to this email directly or view it on GitHub
#3 (comment)
.
hello, and later, do you have solutions for such error? and which cause this error, i need your help, thank you very much!