Re: [ros-users] pr2_gripper_sensor packages in gazebo

ticketed here
https://code.ros.org/trac/ros-pkg/ticket/4512
thanks,
John

On Mon, Oct 18, 2010 at 9:18 AM, Jenny <honorh@gmail.com> wrote:

> Thanks, Kaijen!
>
> -Jenny
>
> On Mon, Oct 18, 2010 at 1:38 AM, Kaijen Hsiao <kaijenhsiao@gmail.com>
> wrote:
> > Hi Jenny,
> > Alas, it is not currently possible to use those libraries in
> > simulation. With the sim contact translator, you can get
> > /pressure/r_gripper_motor messages, and so it's plausible that the
> > force control/slip detection could be made to work. Although ODE's
> > contact forces are usually not very realistic, so probably a great
> > deal of playing with the simulation's CFM/ERP parameters and timestep
> > would be required, not to mention simulation-specific parameter tuning
> > of the controllers themselves. In any event, we don't currently have
> > the accelerometer modeled in simulation. If you file a ticket,
> > accelerometer messages might magically appear one day in the
> > not-too-far future.
> >
> > In the meantime, might I suggest using the actual robot? Its sensor
> > readings are much more realistic. :)
> >
> > -Kaijen
> >
> >
> > On Sun, Oct 17, 2010 at 9:54 PM, Jenny Barry <jlbarry@mit.edu> wrote:
> >> Hi,
> >>
> >> Is it possible to use the pr2_gripper_sensor_* libraries in the gazebo
> >> simulator? Trying
> >>
> >> roslaunch pr2_gazebo pr2_empty_world.launch
> >> roslaunch pr2_gripper_sensor_action pr2_gripper_sensor_actions.launch
> >>
> >> gives an ssh error for the second launch. Changing the
> >> pr2_gripper_sensor_actions.launch launch file to use the ROBOT
> >> environment variable rather than default to pr2 lets it launch, but it
> >> quits with the error
> >>
> >> PR2GripperSenosrController could not find sensor named 'r_gripper_motor'
> >>
> >> Checking the rostopic list, no /pressure or /accelerometer topics are
> >> listed. (/pressure topics can be created using the fingertip_pressure
> >> package, but that does not appear to create /accelerometer topics)
> >>
> >> Thank you,
> >> Jenny
> >> _______________________________________________
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> >>
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