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Fix bug #212

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merged 2 commits into from
Sep 30, 2016
Merged

Fix bug #212

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51f9313
[JAXON_JVRC] fix rate of RangeSensor
YoheiKakiuchi Sep 30, 2016
338208b
[JAXON_RED] remove constraint port and reduce rtmlaunch check
YoheiKakiuchi Sep 30, 2016
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4 changes: 2 additions & 2 deletions hrpsys_choreonoid/launch/choreonoid.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
-o manager.modules.load_path:$(find hrpsys)/lib"
/>
<arg name="RESPAWN_SIMULATOR" default="false"/>
<arg name="START_SIMULATOR" default="true" />
<arg name="ENABLE_CONSTRAINT" default="true" />
<arg name="START_SIMULATOR" default="true" />
<arg name="ENABLE_CONSTRAINT" default="false" />
<arg name="OUTPUT" default="log"/>
<arg name="nameserver" default="localhost" />
<arg name="corbaport" default="2809" />
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1 change: 1 addition & 0 deletions hrpsys_choreonoid/launch/ros_bridge_choreonoid.launch
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Expand Up @@ -24,6 +24,7 @@
<arg name="USE_VELOCITY_OUTPUT" default="true" />
<arg name="USE_ROBOT_POSE_EKF" default="false" />
<!--arg name="BASE_LINK" default="" /-->
<env name="RTC_CONNECTION_CHECK_ONCE" value="true" />
</include>

<!--group if="$(arg RUN_RVIZ)" >
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80 changes: 40 additions & 40 deletions hrpsys_choreonoid_tutorials/config/SensorReaderRTC_JAXON_RED.PD.conf
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Expand Up @@ -42,43 +42,43 @@ out-port = HEAD_RIGHT_CAMERA:HEAD_RIGHT_CAMERA:CAMERA_IMAGE
####
# constraint
####
out-port = F_BODY:WAIST:CONSTRAINT_FORCE
out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE
# out-port = F_BODY:WAIST:CONSTRAINT_FORCE
# out-port = F_CHEST_LINK0:CHEST_JOINT0:CONSTRAINT_FORCE
# out-port = F_CHEST_LINK1:CHEST_JOINT1:CONSTRAINT_FORCE
# out-port = F_CHEST_LINK2:CHEST_JOINT2:CONSTRAINT_FORCE
# out-port = F_HEAD_LINK0:HEAD_JOINT0:CONSTRAINT_FORCE
# out-port = F_HEAD_LINK1:HEAD_JOINT1:CONSTRAINT_FORCE
# out-port = F_LARM_LINK0:LARM_JOINT0:CONSTRAINT_FORCE
# out-port = F_LARM_LINK1:LARM_JOINT1:CONSTRAINT_FORCE
# out-port = F_LARM_LINK2:LARM_JOINT2:CONSTRAINT_FORCE
# out-port = F_LARM_LINK3:LARM_JOINT3:CONSTRAINT_FORCE
# out-port = F_LARM_LINK4:LARM_JOINT4:CONSTRAINT_FORCE
# out-port = F_LARM_LINK5:LARM_JOINT5:CONSTRAINT_FORCE
# out-port = F_LARM_LINK6:LARM_JOINT6:CONSTRAINT_FORCE
# out-port = F_LARM_LINK7:LARM_JOINT7:CONSTRAINT_FORCE
# out-port = F_LARM_FINGER0:LARM_F_JOINT0:CONSTRAINT_FORCE
# out-port = F_LARM_FINGER1:LARM_F_JOINT1:CONSTRAINT_FORCE
# out-port = F_RARM_LINK0:RARM_JOINT0:CONSTRAINT_FORCE
# out-port = F_RARM_LINK1:RARM_JOINT1:CONSTRAINT_FORCE
# out-port = F_RARM_LINK2:RARM_JOINT2:CONSTRAINT_FORCE
# out-port = F_RARM_LINK3:RARM_JOINT3:CONSTRAINT_FORCE
# out-port = F_RARM_LINK4:RARM_JOINT4:CONSTRAINT_FORCE
# out-port = F_RARM_LINK5:RARM_JOINT5:CONSTRAINT_FORCE
# out-port = F_RARM_LINK6:RARM_JOINT6:CONSTRAINT_FORCE
# out-port = F_RARM_LINK7:RARM_JOINT7:CONSTRAINT_FORCE
# out-port = F_RARM_FINGER0:RARM_F_JOINT0:CONSTRAINT_FORCE
# out-port = F_RARM_FINGER1:RARM_F_JOINT1:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK0:LLEG_JOINT0:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK1:LLEG_JOINT1:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK2:LLEG_JOINT2:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK3:LLEG_JOINT3:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK4:LLEG_JOINT4:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK5_UPPER:LLEG_JOINT5:CONSTRAINT_FORCE
# out-port = F_LLEG_LINK5_LOWER:LLEG_BUSH_PITCH:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK0:RLEG_JOINT0:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK1:RLEG_JOINT1:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK2:RLEG_JOINT2:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK3:RLEG_JOINT3:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK4:RLEG_JOINT4:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK5_UPPER:RLEG_JOINT5:CONSTRAINT_FORCE
# out-port = F_RLEG_LINK5_LOWER:RLEG_BUSH_PITCH:CONSTRAINT_FORCE
5 changes: 3 additions & 2 deletions hrpsys_choreonoid_tutorials/launch/jaxon_red_vision_connect.launch
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Expand Up @@ -10,6 +10,7 @@
<env name="RTCTREE_NAMESERVERS" value="$(arg nameserver):$(arg corbaport)" />
<env name="LANG" value="C" />
<env name="ORBgiopMaxMsgSize" value="2147483648" />
<env name="RTC_CONNECTION_CHECK_ONCE" value="true" />

<node name="rtmlaunch_vision_connect" pkg="openrtm_tools"
type="rtmlaunch.py"
Expand Down Expand Up @@ -114,12 +115,12 @@
<param name="rate" value="100.0" />
<param name="publish_odom" value="true" />
<param name="initial_relative" value="false" />
<!-- for publish_tf

<param name="publish_tf" value="true" />
<param name="invert_tf" value="true" />
<param name="tf_frame" value="BODY" />
<param name="tf_parent_frame" value="choreonoid_origin" />
-->

<rtconnect from="JAXON_RED(Robot)0.rtc:WAIST"
to="ground_truth_bridge.rtc:TformIn" />
<rtactivate component="ground_truth_bridge.rtc" />
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9 changes: 6 additions & 3 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
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Expand Up @@ -518,9 +518,12 @@ DEF JAXON_JVRC Humanoid {
translation 0.03 0 0.015
rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393
sensorId 0
scanAngle 2.3561944901923439 ## 135 deg
scanStep 0.0046019423636569 ## 512 line
scanRate 100
#scanAngle 2.3561944901923439 ## 135 deg
#scanStep 0.0026019423636569 ## 512 line
#scanRate 100
scanAngle 2.8797932657906435 ## 165 deg
scanStep 0.004363323129985825 ## 661 line
scanRate 40
minDistance 0.2
maxDistance 30.0
}
Expand Down