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Issues for importing our robot into LIPM package #16

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ghost opened this issue Jan 29, 2020 · 4 comments
Open

Issues for importing our robot into LIPM package #16

ghost opened this issue Jan 29, 2020 · 4 comments

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@ghost
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ghost commented Jan 29, 2020

Hi

I am trying to import our robot into LIPM walking package and use it here. So I prepared some files for mc_rtc. myrobot.cpp and myrobot.h files which are getting compiled and have no issues. Also, there are some files needed by mc_openrtm to recognise our robot in choreonoid. I have added some model file and also there are some files in cnoid folder which I tried to made based on our robot. By the way there are so many details on them and I am not sure if I have done all of them correctly. I have attached them here. Maybe you could find any issues in them too.

cnoid.zip

I am running LIPM package and I can see my robot in choreonoid, but it falls down. I resolved all the issues based on what message windows in choreonoid told me and currently I have almost no error. But I don't realise what the problem is. The messages are:

Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPoseSeqPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPythonSimScriptPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidCorbaPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPythonPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidOpenRTMPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidBodyPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidBalancerPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidOpenHRP3.1Plugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidAssimpPlugin.so"
Body customizer "/usr/local/lib/choreonoid-1.7/customizer/Labo1Customizer.so" for Labo1 has been loaded.
Body-plugin has been activated.
Assimp-plugin has been activated.
SimulationExecutionContext has been registered.
SimulationPeriodicExecutionContext has been registered.
ChoreonoidExecutionContext has been registered.
ChoreonoidPeriodicExecutionContext has been registered.
OpenRTM-plugin has been activated.
PoseSeq-plugin has been activated.
Python-plugin has been activated.
PythonSimScript-plugin has been activated.
Balancer-plugin has been activated.
Corba-plugin has been activated.
OpenHRP3.1-plugin has been activated.
Loading project file "sim_mc.cnoid" ...
Task sequencer '' has been deactivated.
OpenGL version is 3.0.
GLSL version is 1.30.
PythonPlugin: "/usr/local/lib/python2.7/dist-packages/hrpsys" has been added to the Python module search path list.
Restoring ExtCommandItem "ModelLoader"
External command "openhrp-model-loader" has been executed by item "ModelLoader".
Restoring WorldItem "World"
ready
Restoring BodyItem "sm_r_v1"
Loading Body "/usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl"
 -> ok!
Restoring BodyRTCItem "BodyRTC"
Config File "/usr/local/lib/choreonoid-1.7/rtc/Virtual-sm_r_v1-RTC.conf" has been loaded.
RTC "PDcontroller" has been created from "/usr/local/lib/choreonoid-1.7/rtc/PDcontroller.so".
RTC "sm_r_v1Controller(Robot)0" has been created.
Restoring SensorVisualizer "SensorVisualizer"
loading file:/usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
Humanoid node
Joint node base_link
  AccelerationSensorgsensor
  Gyrogyrometer
  Segment node base_link
  Joint node L1
    Segment node L_Hip_1
    Joint node L2
      Segment node L_Hip_2
      Joint node L3
        Segment node L_Hip_3
        Joint node L4
          Segment node L_Knee
          Joint node L5
            Segment node L_Ankle_1
            Joint node L6
              Segment node L_Ankle_2
                ForceSensorflsensor
                RangeSensorrlsensor
                RangeSensorrlsensor_back
  Joint node R1
    Segment node R_Hip_1
    Joint node R2
      Segment node R_Hip_2
      Joint node R3
        Segment node R_Hip_3
        Joint node R4
          Segment node R_Knee
          Joint node R5
            Segment node R_Ankle_1
            Joint node R6
              Segment node R_Ankle_2
                ForceSensorfrsensor
                RangeSensorrrsensor
                RangeSensorrrsensor_back
The model was successfully loaded ! 
Restoring BodyItem "longfloor"
Loading Body "/usr/local/share/OpenHRP-3.1/sample/model/longfloor.wrl"
 -> ok!
Restoring AISTSimulatorItem "AISTSimulator"
Restoring PythonSimScriptItem "sim_mc.py"
Loading Python Script for Simulation "/usr/local/share/hrpsys/samples/sm_r_v1/sim_mc.py"
 -> ok!
8 / 8 item(s) have been loaded.
Project "sim_mc.cnoid" has been completely loaded.
setup RT components
detected the ExecutionContext
connect sm_r_v1Controller(Robot)0:q --> PDcontroller0:angle
Connection was successful.
connect sm_r_v1Controller(Robot)0:tau <-- PDcontroller0:torque
Connection was successful.
Simulation by AISTSimulator has started.
Execution of Python script "sim_mc.py" has been started.
[rtm.py] nshost already set as localhost
[rtm.py] nsport already set as 2809
[rtm.py] Failed to parse corba.master_manager, use 2810
[rtm.py] configuration ORB with localhost:2809
[rtm.py] configuration RTCManager with localhost:2810
[rtm.py] trying to findRTCManager on port2810
creating components
[rtm.py] trying to findRTCManager on port2810

I can only see that at the end we have "Failed to parse corba.master_manager" message. Do you know what might be the reason for it and how to resolve it?

Thank You
@arntanguy
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Collaborator

  • Did you run the clear-omninames.sh script before running choreonoid
  • Did you build choreonoid with -DBUILD_CORBA_PLUGIN=ON -DENABLE_CORBA=ON
  • Did you run choreonoid from the /usr/local/share/hrpsys/samples/your_robot/ folder?

@ghost
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ghost commented Jan 29, 2020 •
edited by ghost
Loading

The answer to all questions is "Yes". There are many variables in the files of cnoid folder. Is it possible than one or more of those variables are not set correctly and this is why we can't run it?

Thank You

@ghost
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ghost commented Feb 4, 2020

I was able to fix that problem. I am now getting some other errors. The robot in choreonoid still falls down. But I can see foot points and other panels in rviz. I wanted to share the errors with you, maybe you could help us.
Choreonoid shows following lines in message panel:

Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPoseSeqPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPythonSimScriptPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidCorbaPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidPythonPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidOpenRTMPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidBodyPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidBalancerPlugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidOpenHRP3.1Plugin.so"
Detecting plugin file "/usr/local/lib/choreonoid-1.7/libCnoidAssimpPlugin.so"
Body customizer "/usr/local/lib/choreonoid-1.7/customizer/Labo1Customizer.so" for Labo1 has been loaded.
Body-plugin has been activated.
Assimp-plugin has been activated.
SimulationExecutionContext has been registered.
SimulationPeriodicExecutionContext has been registered.
ChoreonoidExecutionContext has been registered.
ChoreonoidPeriodicExecutionContext has been registered.
OpenRTM-plugin has been activated.
PoseSeq-plugin has been activated.
Python-plugin has been activated.
PythonSimScript-plugin has been activated.
Balancer-plugin has been activated.
Corba-plugin has been activated.
OpenHRP3.1-plugin has been activated.
Loading project file "sim_mc.cnoid" ...
Task sequencer '' has been deactivated.
OpenGL version is 3.0.
GLSL version is 1.30.
PythonPlugin: "/usr/local/lib/python2.7/dist-packages/hrpsys" has been added to the Python module search path list.
Restoring ExtCommandItem "ModelLoader"
External command "openhrp-model-loader" has been executed by item "ModelLoader".
Restoring WorldItem "World"
ready
Restoring BodyItem "sm_r_v1"
Loading Body "/usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl"
 -> ok!
Restoring BodyRTCItem "BodyRTC"
Config File "/usr/local/lib/choreonoid-1.7/rtc/Virtual-sm_r_v1-RTC.conf" has been loaded.
RTC "PDcontroller" has been created from "/usr/local/lib/choreonoid-1.7/rtc/PDcontroller.so".
RTC "sm_r_v1Controller(Robot)0" has been created.
Restoring SensorVisualizer "SensorVisualizer"
loading file:////usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
Humanoid node
Joint node base_link
  AccelerationSensorgsensor
  Gyrogyrometer
  Segment node base_link
  Joint node L1
    Segment node L_Hip_1
    Joint node L2
      Segment node L_Hip_2
      Joint node L3
        Segment node L_Hip_3
        Joint node L4
          Segment node L_Knee
          Joint node L5
            Segment node L_Ankle_1
            Joint node L6
              Segment node L_Ankle_2
                ForceSensorflsensor
  Joint node R1
    Segment node R_Hip_1
    Joint node R2
      Segment node R_Hip_2
      Joint node R3
        Segment node R_Hip_3
        Joint node R4
          Segment node R_Knee
          Joint node R5
            Segment node R_Ankle_1
            Joint node R6
              Segment node R_Ankle_2
                ForceSensorfrsensor
The model was successfully loaded ! 
Restoring BodyItem "longfloor"
Loading Body "/usr/local/share/OpenHRP-3.1/sample/model/longfloor.wrl"
 -> ok!
Restoring AISTSimulatorItem "AISTSimulator"
Restoring PythonSimScriptItem "sim_mc.py"
Loading Python Script for Simulation "/usr/local/share/hrpsys/samples/sm_r_v1/sim_mc.py"
 -> ok!
8 / 8 item(s) have been loaded.
Project "sim_mc.cnoid" has been completely loaded.
setup RT components
detected the ExecutionContext
connect sm_r_v1Controller(Robot)0:q --> PDcontroller0:angle
Connection was successful.
connect sm_r_v1Controller(Robot)0:tau <-- PDcontroller0:torque
Connection was successful.
Simulation by AISTSimulator has started.
Execution of Python script "sim_mc.py" has been started.
[rtm.py] nshost already set as localhost
[rtm.py] nsport already set as 2809
[rtm.py] Failed to parse corba.master_manager, use 2810
[rtm.py] configuration ORB with localhost:2809
[rtm.py] configuration RTCManager with localhost:2810
[rtm.py] trying to findRTCManager on port2810
creating components
[rtm.py] trying to findRTCManager on port2810
loading file:///usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
Humanoid node
Joint node base_link
  AccelerationSensorgsensor
  Gyrogyrometer
  Segment node base_link
  Joint node L1
    Segment node L_Hip_1
    Joint node L2
      Segment node L_Hip_2
      Joint node L3
        Segment node L_Hip_3
        Joint node L4
          Segment node L_Knee
          Joint node L5
            Segment node L_Ankle_1
            Joint node L6
              Segment node L_Ankle_2
                ForceSensorflsensor
  Joint node R1
    Segment node R_Hip_1
    Joint node R2
      Segment node R_Hip_2
      Joint node R3
        Segment node R_Hip_3
        Joint node R4
          Segment node R_Knee
          Joint node R5
            Segment node R_Ankle_1
            Joint node R6
              Segment node R_Ankle_2
                ForceSensorfrsensor
The model was successfully loaded ! 
cache found for file:///usr/local/share/OpenHRP-3.1/robot/sm_r_v1/sm_r_v1.wrl
connecting components
[rtm.py]    Connect sm_r_v1Controller(Robot)0.q - StateHolder0.currentQIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sm_r_v1Controller(Robot)0.gyrometer - KalmanFilter0.rate (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sm_r_v1Controller(Robot)0.gsensor - KalmanFilter0.acc (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect StateHolder0.qOut - PDcontroller0.angleRef (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
activating components
initialized successfully
[rtm.py]    Connect sm_r_v1Controller(Robot)0.q - MCControl0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sm_r_v1Controller(Robot)0.gyrometer - MCControl0.rateIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sm_r_v1Controller(Robot)0.gsensor - MCControl0.accIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sm_r_v1Controller(Robot)0.frsensor - MCControl0.RightFootForceSensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect sm_r_v1Controller(Robot)0.flsensor - MCControl0.LeftFootForceSensor (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect StateHolder0.basePosOut - MCControl0.pIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Connect KalmanFilter0.rpy - MCControl0.rpyIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
[rtm.py]    Failed to connect sm_r_v1Controller(Robot)0.waistAbsTransform to None([None])
[rtm.py]    Failed to connect sm_r_v1Controller(Robot)0.waistAbsVelocity to None([None])
[rtm.py]    Failed to connect sm_r_v1Controller(Robot)0.waistAbsAcceleration to None([None])
[rtm.py]    Connect MCControl0.qOut - StateHolder0.qIn (dataflow_type=Push, subscription_type=flush, bufferlength=1, push_rate=1000, push_policy=new)
The execution of Python script "sim_mc.py" has been finished.

Terminal Shows following lines after the choreonoid --start-simulation sim_mc.cnoid command:

PDcontroller0: onInitialize() 
PDcontroller0: on Activated 
[PDcontroller0] Gain file [PDgains_sim.dat] opened
[PDcontroller0] tlimit_ratio is set to 1,1,1,1,1,1,1,1,1,1,1,1
[PDcontroller0] loadGain
[PDcontroller0]   L1, pgain = 5000, dgain = 30
[PDcontroller0]   L2, pgain = 5000, dgain = 30
[PDcontroller0]   L3, pgain = 5000, dgain = 30
[PDcontroller0]   L4, pgain = 6000, dgain = 50
[PDcontroller0]   L5, pgain = 3000, dgain = 20
[PDcontroller0]   L6, pgain = 3000, dgain = 20
[PDcontroller0]   R1, pgain = 5000, dgain = 30
[PDcontroller0]   R2, pgain = 5000, dgain = 30
[PDcontroller0]   R3, pgain = 5000, dgain = 30
[PDcontroller0]   R4, pgain = 6000, dgain = 50
[PDcontroller0]   R5, pgain = 3000, dgain = 20
[PDcontroller0]   R6, pgain = 3000, dgain = 20
[KalmanFilter0] onInitialize()
[KalmanFilter0]   Q_angle=0.001, Q_rate=0.003, R_angle=1000
[StateHolder0] onInitialize()
StateHolder: dt = 0.005
[DataLogger0] onInitialize()
Loading default global configuration /usr/local/etc/mc_rtc.yaml
Loading additional global configuration "/home/saeed/.config/mc_rtc/mc_rtc.conf"
Enabled plugins: ROS (autoload)
GUI server enabled
Will serve data on:
- ipc:///tmp/mc_rtc_pub.ipc
- tcp://*:4242
Will handle requests on:
- ipc:///tmp/mc_rtc_rep.ipc
- tcp://*:4343
Loading additional plugin configuration: "/usr/local/lib/mc_plugins/etc/ROS.yaml"
Loading additional controller configuration: "/usr/local/lib/mc_controller/etc/LIPMWalking.conf"
Loading additional controller configuration: "/home/saeed/.config/mc_rtc/controllers/LIPMWalking.conf"
Create controller LIPMWalking
MCController(base) ready
Robots loaded in FSM controller:
- sm_r_v1
- ground
Added task FSM_posture_sm_r_v1
Initialized new ModelPredictiveControl solver
Loaded footstep plan "custom_forward"
LIPMWalking controller init done 0x7fc69c0f7980
Create controller HalfSitPose
MCController(base) ready
Added task posture_sm_r_v1
MCHalfSitPoseController init done 0x7fc69c148b20
MCControl::onInitialize() starting
MCControl::onInitialize() finished
[KalmanFilter0] onActivated(1000)
onActivated
Init controller
Will log controller outputs to "/tmp/mc-control-LIPMWalking-2020-02-03-17-33-06.bin"
Updated latest log symlink: "/tmp/mc-control-LIPMWalking-latest.bin"
Added task FSM_body6d_sm_r_v1_base_link
Observers:  -> Encoder (position=estimator,velocity=estimator)
[mc_rtc::ROS] Starting ROS services
Starting state Initial
Removed task FSM_body6d_sm_r_v1_base_link
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
Robot is in the air

And the terminal which starts RVIZ shows following lines:

..```
. logging to /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/roslaunch-hmr-ThinkPad-P1-12992.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hmr-ThinkPad-P1:42377/

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [13002]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 445020c0-46ee-11ea-ac67-3c6aa7374b96
process[rosout-1]: started with pid [13015]
started core service [/rosout]
process[rviz-2]: started with pid [13024]
[ INFO] [1580779975.720416466]: rviz version 1.12.17
[ INFO] [1580779975.720449197]: compiled against Qt version 5.5.1
[ INFO] [1580779975.720456259]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1580779975.805167163]: Stereo is NOT SUPPORTED
[ INFO] [1580779975.805225253]: OpenGl version: 3 (GLSL 1.3).
Connected SUB socket to ipc:///tmp/mc_rtc_pub.ipc
Connected PUSH socket to ipc:///tmp/mc_rtc_rep.ipc
Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/EndEffectorTask.json has unknown or missing type (value: object), treating as string
Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/OrientationTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PositionTask.json has unknown or missing type (value: object), treating as string
Property posture in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json is an array of array, will not display for now
Property jointGains in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknonw or missing array items' type (value: ), treating as string
Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/RelativeEndEffectorTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/SurfaceTransformTask.json has unknown or missing type (value: object), treating as string
Could not display arrow Markers/Net wrench/Measured_ZMPForce_arrow: invalid value in start coordinates (6.69311e+151 9.08367e+223 1.1471e-259)
rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.. logging to /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/roslaunch-hmr-ThinkPad-P1-12992.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hmr-ThinkPad-P1:42377/

SUMMARY

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [13002]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 445020c0-46ee-11ea-ac67-3c6aa7374b96
process[rosout-1]: started with pid [13015]
started core service [/rosout]
process[rviz-2]: started with pid [13024]
[ INFO] [1580779975.720416466]: rviz version 1.12.17
[ INFO] [1580779975.720449197]: compiled against Qt version 5.5.1
[ INFO] [1580779975.720456259]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1580779975.805167163]: Stereo is NOT SUPPORTED
[ INFO] [1580779975.805225253]: OpenGl version: 3 (GLSL 1.3).
Connected SUB socket to ipc:///tmp/mc_rtc_pub.ipc
Connected PUSH socket to ipc:///tmp/mc_rtc_rep.ipc
Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/BSplineTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/EndEffectorTask.json has unknown or missing type (value: object), treating as string
Property targetSurface in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/ExactCubicTrajectoryTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/OrientationTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PositionTask.json has unknown or missing type (value: object), treating as string
Property posture in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json is an array of array, will not display for now
Property jointGains in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknonw or missing array items' type (value: ), treating as string
Property target in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/PostureTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/RelativeEndEffectorTask.json has unknown or missing type (value: object), treating as string
Property relative in /usr/local/share/doc/mc_rtc/json/schemas/MetaTask/SurfaceTransformTask.json has unknown or missing type (value: object), treating as string
Could not display arrow Markers/Net wrench/Measured_ZMPForce_arrow: invalid value in start coordinates (6.69311e+151 9.08367e+223 1.1471e-259)
rviz: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/src/OgreNode.cpp:630: virtual void Ogre::Node::setScale(const Ogre::Vector3&): Assertion `!inScale.isNaN() && "Invalid vector supplied as parameter"' failed.
[rviz-2] process has died [pid 13024, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/saeed/repos/3rd_party/lipm/catkin_ws/src/mc_rtc_ros/mc_rtc_ticker/launch/display.rviz __name:=rviz __log:=/home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2.log].
log file: /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2*.log

[rviz-2] process has died [pid 13024, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/saeed/repos/3rd_party/lipm/catkin_ws/src/mc_rtc_ros/mc_rtc_ticker/launch/display.rviz __name:=rviz __log:=/home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2.log].
log file: /home/saeed/.ros/log/445020c0-46ee-11ea-ac67-3c6aa7374b96/rviz-2*.log

@arntanguy
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Sorry for the delay.

Everything looks fine here on choreonoid's side:

  • all components are created and connected to mc_openrtm server
  • the mc_openrtm client is properly started, and the LIPMWalking controller is executed.
  • the rviz debug output is not really of any use (rviz is only used for display and showing the GUI panel)

Your issue here seems to be:

[mc_rtc::ROS] Starting ROS services
Starting state Initial
Removed task FSM_body6d_sm_r_v1_base_link
Robot is in the air
Robot is on the ground again
Robot is in the air
Robot is on the ground again
[...]

Since the Initial state does not yet perform force-control (it's just an open-loop posture task), this would most likely indicate that the PD gains you selected for your robot are inadequate and it shakes or diverges.

You could start by running simpler controllers to make sure that the dynamic simulation behaves as expected first. I suggest:

  • Posture: Run this controller, and check that
    • It does not vibrate by itself
    • You can move the joints smoothly (from mc_rtc GUI, Tasks->Posture tab)
    • You can check the feet force sensor measurements in the log file and make sure that they're not shaky. If they are, you'll need to tune choreonoid's PD gains .
  • CoM: Check that you can move the CoM smoothly (you can move the CoM target with RVIZ interactive markers)

If both of those are fine, retry LIPMWalking, it should at least work well until you click on the Start Standing button. This will enable stabilization, and thus force-control. If it starts shaking at that point, you'll need to tune LIPMWalking gains. Please refer to the doxygen documentation page for instructions.

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