[Collision detector] Add a conf file for the robot that was installed before 2015.#335
Open
130s wants to merge 1 commit into
Open
[Collision detector] Add a conf file for the robot that was installed before 2015.#335130s wants to merge 1 commit into
130s wants to merge 1 commit into
Conversation
130s
force-pushed
the
fix/collidetect_fail_realrobot
branch
from
7581cc3 to
38533b4
Compare
… before 2015. **Issue** An error about `CollisionDetector` such as below or similar might be happening constantly, even though the path in `MODEL_FILE` is correct. ``` $ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl or $ roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl nameserver:=nextage : [WARN] [WallTime: 1495434563.800814] Could not found CollisionDetector(CollisionDetector0), waiting... ``` **Cause** In [nextage_ros_bridge/conf/realrobot_fixedpath.con](https://github.com/tork-a/rtmros_nextage/blob/a1c21751189a6ea5244519d34f560f288a3d94f9/nextage_ros_bridge/conf/realrobot_fixedpath.conf#L3) (that is passed from [nextage_ros_bridge_real.launch](https://github.com/tork-a/rtmros_nextage/blob/a1c21751189a6ea5244519d34f560f288a3d94f9/nextage_ros_bridge/launch/nextage_ros_bridge_real.launch#L3)) the model file location is hardcoded as: ``` model: file:///opt/jsk/etc/NEXTAGE/model/main.wrl ``` But this path does not exist for robots that were installed earlier (unless robot owners changed by themselves). **Workaround** With this commit, you'll be able to specify a correct conf file like this: ``` roslaunch nextage_ros_bridge nextage_ros_bridge_real.launch MODEL_FILE:=/opt/jsk/etc/HIRONX/model/main.wrl nameserver:=nextage CONF_FILE_COLLISIONDETECT:=`rospack find nextage_ros_bridge`/conf/realrobot_fixedpath_-2015.conf ```
130s
force-pushed
the
fix/collidetect_fail_realrobot
branch
from
38533b4 to
be0a388
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Issue
An error about
CollisionDetectorsuch as below or similar might be happening constantly, even though the path inMODEL_FILEis correct.Cause
In nextage_ros_bridge/conf/realrobot_fixedpath.con (that is passed from nextage_ros_bridge_real.launch) the model file location is hardcoded as:
But this path does not exist for robots that were installed earlier (unless robot owners changed by themselves).
Workaround
With this commit, you'll be able to specify a correct conf file like this: