Minor bugs #2
Description
Hi @danisotelo, excellent work and thanks for this repo!
Just a few minor bugs with the path of the realsense meshes when running the quick start scripts and building qm_planner and qm_vision.
For realsense issue (10 Sep 2024):
The error "resource not found: realsense2_description" is shown due to wrong path used.
Currently, it is "mesh filename="file://$(find realsense2_description)/meshes/d435.dae"" but changing it to "mesh filename="file://$(find qm_description)/meshes/camera/d435.dae"" under the script "{path_to_your_ws}/src/qm_door/qm_description/urdf/quadruped_manipulator/camera2.xacro" should solve the issue for anyone facing this problem.
For qm_planner and qm_vision building (10 Sep 2024):
The "constexpr double THRESHOLD = 0.1;" line in "{path_to_your_ws}/src/qm_door/qm_controllers/include/qm_controllers/StartingPosition.h" is commented out which may cause building error for qm_planner and qm_vision
For gripperMover loading in rviz (8 Oct 2024):
There seems to be an issue with the loading of the gripperMover component in rviz when running qm_gazebo/launch/cs/empty_world.launch. The error indicates that there is no transformation between gripperMover and world frames. Even in
the rqt_tf_tree, gripperMover is not reflect.
However, the qm_description/quadruped_manipulator/robot.urdf and robot.xacro have indicated that there is a link between gripperMover and gripperStator, thus linking between the gripperMover and world frame.
Instructions for running qm_planner and qm_vision scripts (5 Nov 2024):
Is there a set of instructions to run the qm_vision and qm_controller scripts for door opening (ie door pushing and pulling)? I tried to launch push_door_world.launch, followed by open_door_sim.launch and handle_sim.launch.
Also, when I tried starting controllers/qm_controller after loading in the controller manager, the controllers and gazebo crash with the following error below. I am not sure if i did something wrong here, any help will be appreciated!
From the roslaunch qm_gazebo push_door_world.launch terminal:
cppad-20190200.5 error from a known source:
Invalid independent array size
Error detected by false result for
x.size() == _n
at line 303 in the file
/home/docker_dev/qm_door/src/ocs2/ocs2_thirdparty/include/cppad/cg/model/functor_generic_model.hpp
cppad-20190200.5 error from a known source:
Invalid independent array size
Error detected by false result forcppad-20190200.5 error from a known source:
Invalid independent array size
Error detected by false result for
x.size() == _n
x.size() == _n
at line 303 in the file at line 303 in the file
/home/docker_dev/qm_door/src/ocs2/ocs2_thirdparty/include/cppad/cg/model/functor_generic_model.hpp
/home/docker_dev/qm_door/src/ocs2/ocs2_thirdparty/include/cppad/cg/model/functor_generic_model.hpp
free(): corrupted unsorted chunks
Segmentation fault (core dumped)
From the rosrun rqt_controller_manager rqt_controller_manager terminal:
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 523, in call
responses = transport.receive_once()
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 744, in receive_once
self.stat_bytes += recv_buff(sock, b, p.buff_size)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 111, in recv_buff
raise TransportTerminated("unable to receive data from sender, check sender's logs for details")
rospy.exceptions.TransportTerminated: unable to receive data from sender, check sender's logs for details
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rqt_controller_manager/controller_manager.py", line 282, in _on_ctrl_menu
self._start_controller(ctrl.name)
File "/opt/ros/noetic/lib/python3/dist-packages/rqt_controller_manager/controller_manager.py", line 341, in _start_controller
self._switch_srv.call(req)
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_service.py", line 533, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
P.S: The list will be appended if more bugs/clarifications are found.