[ros-users] pr2_gripper_sensor packages in gazebo

[Jenny]

Thanks, Kaijen!

-Jenny

On Mon, Oct 18, 2010 at 1:38 AM, Kaijen Hsiao <kaijenhsiao at 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 at 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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