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View Code? Open in Web Editor NEWRobotic simulation in Unity with ROS integration.
Home Page: https://roboticsimulationservices.com/
License: MIT License
zerosimrosunity's Issues
IMU publisher inconsistent coordinate system
The description of this IMU configuration yields a left handed coordinate system but claims to be right handed.
save point cloud data
Hello！
How to save the point cloud data in the simulation process?
Thank U！
Unable to import package
Hello, I am trying to follow the tutorial to set this up, however, I keep getting the "Error adding package: [email protected]:fsstudio-team/ZeroSimROSUnity.git"
I am running on Ubuntu 20.04. I tried a couple of versions of Unity 2020.3.18f1 and 2020.3.35f1 to see if that helped. Not sure if this is something that has happened to others and if there's any solution. Thanks.
Ros_bridge not publishing ROS messages
I've followed the tutorial on Setting up a new Unity Project, but want to set up the a new catkin_ws independent of the provided docker space. I'm quite new to ROS so this might be obvious.
I've tried to run
roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=true
And then press play in Unity.
The console in Unity then reports that connection to ros bridge is established, and rostopic list confirms that the topics have been published. However, when opening up rviz to view the sensors, none of them receive any messages.
Is it possible to get access files in the docker container so that it is easier to set up a workspace outside of docker?
Does anyone know how to solve this issue?
publish the point cloud of the lidar in its own frame
Hi there, could it be possible to publish the point cloud of the lidar in its own frame (i.e. lidar_link) not the base_link frame? If yes, could you instruct the steps to set it up, please? Thank you.
About 2 finger gripper
Hi,
Is there any examples about how to use robotiq 2f 85? And is it possible to combine the gripper with ur10 and publish two differernt controllers?
Thank you.
Import URDF not working as expected
HI,
I'm trying to import the LeoRover description in Unity using ZeroSim. I followed the video tutorial and the comment from @micahpearlman in #17 (comment). I was able to import the .obj files but it looks like the joints weren't imported properly.
Have I missed something or is this the expected behaviour?
Setup info:
- Unity 2020.2.6f1
- on Ubuntu 18.04 LTS
- with your docker image to convert the meshes
Thanks,
Alex
ROS Camera depth publisher: ROSUnityManager not instantiate
Hello !
I've just download the package on Unity (ubuntu). I've place the ZORGBDepthCamera on an GameObject with a ZOROSRGBDepthPublisher. I've use the docker project to launch zero_sim_ros basic_unity_editor.launch.
Unity give me this error:
NullReferenceException: Object reference not set to an instance of an object
ZO.ROS.Publisher.ZOROSRGBDepthPublisher.ZOUpdateHzSynchronized () (at Library/PackageCache/com.fsstudio.zerosim@354853b8f1/Runtime/Scripts/ROS/Unity/Publishers/ZOROSRGBDepthPublisher.cs:113)
ZO.Util.ZOGameObjectBase.Update () (at Library/PackageCache/com.fsstudio.zerosim@354853b8f1/Runtime/Scripts/Util/GameObject/ZOGameObjectBase.cs:232)
When I look at the object "ROSUnityManager" in the debug mode, it a null object.
Did I miss a step at the installation or some thing like that ?
Thank you !
ROS publisher for 3D Lidar
Hi, thanks for sharing the project. The TurtleBot Test sample works very well. A 2D lidar is used in the sample. I'd like to know the way to use the 3D lidar. I couldn't find the ROS publisher for the 3D lidar. Could you advise on this, please?
Thank you!
How to rename/remap topics?
I was wondering how one would go about remapping data from ZeroSim Nodes in Unity to different topics? i.e remapping depth topic in ZeroSim from /depth_registered/image_rect -> /camera_sim/example_name. Any help would be greatly appreciated
Timestamp mismatch in RGBDepthPublisher
Description
The different messages published by OnPublishRGBDepthDelegate in RGBDepthPublisher are given independent timestamps, despite coming from the same simulation time-step. This is because the headers are all updated using the Update method which creates a new timestamp.
Problem
This causes issues in packages that expect camera image and camera info to be synchronized exactly, like the image_transport::CameraSubscriber. As a workaround we currently need to use approximate time synchronization to match image and info topics, but since the image and info are generated on the same simulation step, we believe this shouldn't be needed.
Proposed solution
Use the same timestamp for image message and info message. Will add a PR
Distorted reconstructed Pointcloud from rgbd-Camera
Hello i think this project is really good for simulating sensors in Unity replacing Gazebo,
what draw me here was specifically the depth camera implementation that i couldn't find a proper ros compatible anywhere else,
combining it with the Unity Robotics Hub Visualization package in two Unity instances, i find my self not needing both Gazebo and RViz.
However i noticed some things,
the Reconstructed pointcloud (from depth/rgb image and camera_info - depth_image_proc) appears to be distorted, this is also present in the sample scene.
I am not sure, if it's the camera_info fault or of the depth_data or a bug in the depth_image_proc,
i assume that you have encountered a similar problem and i want to know if you can help me with it.
Here are some pictures describing the problem
Furthermore i noticed that when changing the Graphics Setting to URP render pipeline, the depth Camera was not able to render,
although URP has Vulkan support, i have some projects that require URP and will probably be the default pipeline in the future.
Thanks a lot!
Panagiotis
Image Sensor Not Rendering
From: @EdvardGrodem in issue #3
images from cameras do not encode correctly and appears blue in Rviz. Does anyone know how to fix this?
Custom Message Creation
I want to work with custom messages and dont know how is it built in zerosim. Is there an option to work with custom messages?
Please help!
Thanks in Advance! @micahpearlman
3D lidar orientation issue
I have been trying to import a 2D and 3D lidar to turtlebot3_waffle using the provided sample turtlebot scene tutorial.
**What I am trying to do ** is that, if I translate and rotate the turtlebot, then the 3D pointcloud as well as 2D scan data should also translate and rotate similar amount to that of robot base_foorprint.
I am successful in doing so for 2D lidar however, when I import the 3D lidar in scene; then depending upon selected parent transform id the 3D pointcloud ONLY either rotates or translates.
I have attached some screenshots of Unity editor to show you 3D Lidar's different configuration, screenshot of tf tree and screenshots of foxglove where I am visualizing the data.
P.S. Observe how 2D scan (white) and 3D pointcloud (green) is aligned or misaligned.
If what I am trying to achieve is successful then the 2D scan and 3D pointcloud would never be misaligned no matter however I move the robot.
TF Tree
test 1 - parent transform id = base_footprint
observe how after applying pure rotation along vertical axis, the 2D and 3D points are misaligned.
| Unity Settings | Initial Pose | after applying only rotation to base |
|---|---|---|
 |
 |
 |
in this test if I apply only translation then the 2D and 3D pointclouds remains aligned.
test 2 - parent transform id = odom
observe how after applying pure translation along x axis, the 2D and 3D points are misaligned.
| Unity Settings | Initial Pose | after applying only translation to base |
|---|---|---|
 |
|
 |
in this test if I apply only rotattion then the 2D and 3D pointclouds remains aligned.
Can someone help me find any bug in my understanding or help me find a solution?
RGBD camera mirrored
Hi, I've been checking out the depth camera module. Sometimes it works fine, however other times the image is mirrored. This is how I recreated the issue:
Open ZeroSim samples/ROSDepthImagePublish_test
Run ROS and play scene
Open Rviz
And everything works fine.
Then I make a prefab of the RGBDepthCameraSensor GameObject.
Open a new scene, add the RGBDepthCameraSensor prefab. Add a ZOROS Unity Manager with WorldFrameId = map
Open ROS, play scene
Open Rviz
The depth image is mirrored.
Is this bug, is there something I don't get?
Thanks
Edvard
SPOT robot support
I observe that in ZeroSim you have provided a test scene for spot robot, are there any supporting ros tutorials for that?
has anyone here have used the SPOT test scene?
Unity Left Handed Coordinate System
Hi, after trying to run SLAM from the simulator we have some trouble with the coordinate frames from Unity. I know Unity uses a left handed coordinate system. Does ZeroSim account for this when publishing transforms?
Unity 2020. add package from git url failed
[Package Manager Window] Cannot perform upm operation: Unable to add package [[email protected]:fsstudio-team/ZeroSimROSUnity.git]:
Error when executing git command. Host key verification failed.
fatal: Could not read from remote repository.
Select Add Package From Git URL... and enter [email protected]:fsstudio-team/ZeroSimROSUnity.git.
{https://github.com/fsstudio-team/ZeroSimROSUnity}
Import does not fetch git lfs files
When creating a new project, the import does not fetch lfs files. This causes several error messages, which I have pasted below for searchability. Opening the files, for instance Runtime/Scripts/Sensors/RGBDepthCamera/calibration_chessboard.png, in a text editor it is clearly a git-lfs file.
version https://git-lfs.github.com/spec/v1
oid sha256:36a04f9701b424550dbff7cf8c4e5cd7a12e68cea45a98774285af7799492254
size 62550
Looking at Unity git guide, I would expect this to be handled by Unity so I am not sure what causes this issue. It may be a system configuration issue on my end.
System:
- Ubuntu 18.04
- git version 2.17.1
- git-lfs version 2.3.4
Temporary workaround
- Add package manually by cloning repo into unity project.
- Run
git lfs fetch --allandgit lfs checkout .to retrieve the lfs files.
Some of the error messages
Library/PackageCache/com.fsstudio.zerosim@cfa659082a/Runtime/Scripts/Util/Docker/ZODocker.cs(9,7): error CS0246: The type or namespace name 'Docker' could not be found (are you missing a using directive or an assembly reference?)
Could not create asset from Packages/com.fsstudio.zerosim/Runtime/Scripts/Sensors/RGBDepthCamera/calibration_chessboard.png: File could not be read
ImportFBX Errors:
Couldn't read file /home/rendell/UnityProjects/ZeroSim test/Assets/Samples/ZeroSim/0.1.15/ZeroSim samples/Assets/Models/Table.fbx.
Moveit not working with UR10
Hi,
I am trying to run UR10 with moveit as per the instructions. However, Moveit is not able to connect with Unity and it says
[ WARN] [1651847479.094899661]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1651847491.095258476]: Action client not connected: /follow_joint_trajectory
[ INFO] [1651847491.145437200]: Returned 0 controllers in list
I have tried multiple options with sim param, as its should remap /follow_joint_trajectory to /arm_controller/follow_joint_trajectory, but it is not able to do it. Has anybody faced the same issue ?
Detailed terminal goes:
root@e540d66baca3:/catkin_ws# roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true limited:=true
... logging to /root/.ros/log/332b26fc-cd45-11ec-9677-0242ac110002/roslaunch-e540d66baca3-10719.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://e540d66baca3:38603/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'action_ns': 'f...
* /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/manipulator/longest_valid_segment_fraction: 0.01
* /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/execution_duration_monitoring: False
* /move_group/use_controller_manager: False
* /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
* /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
* /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
* /robot_description_semantic: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.11
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
process[move_group-1]: started with pid [10737]
[ INFO] [1651847099.716217232]: Loading robot model 'ur10'...
[ WARN] [1651847099.716655379]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1651847099.716670591]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1651847099.743529660]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1651847099.769913593]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1651847099.771059716]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1651847099.771081300]: Starting planning scene monitor
[ INFO] [1651847099.772341652]: Listening to '/planning_scene'
[ INFO] [1651847099.772365893]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1651847099.773288430]: Listening to '/collision_object'
[ INFO] [1651847099.774191846]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1651847099.774545909]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1651847099.777916526]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1651847099.790731301]: Initializing OMPL interface using ROS parameters
[ INFO] [1651847099.799695248]: Using planning interface 'OMPL'
[ INFO] [1651847099.801389164]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1651847099.801562937]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1651847099.801705782]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847099.801943884]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847099.802200115]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1651847099.802421237]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1651847099.802455819]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1651847099.802473257]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1651847099.802483233]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1651847099.802492383]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1651847099.802502046]: Using planning request adapter 'Fix Start State Path Constraints'
^C[move_group-1] killing on exit
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
You can start planning now!
shutting down processing monitor...
... shutting down processing monitor complete
done
root@e540d66baca3:/catkin_ws# roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true limited:=true
... logging to /root/.ros/log/332b26fc-cd45-11ec-9677-0242ac110002/roslaunch-e540d66baca3-13309.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://e540d66baca3:37537/
SUMMARY
========
PARAMETERS
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'action_ns': 'f...
* /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/manipulator/longest_valid_segment_fraction: 0.01
* /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/execution_duration_monitoring: False
* /move_group/use_controller_manager: False
* /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
* /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
* /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
* /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
* /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
* /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
* /robot_description_semantic: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.11
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
process[move_group-1]: started with pid [13331]
[ INFO] [1651847473.999408531]: Loading robot model 'ur10'...
[ WARN] [1651847473.999867721]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1651847473.999885801]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1651847474.026697789]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1651847474.053489726]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1651847474.054688295]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1651847474.054705284]: Starting planning scene monitor
[ INFO] [1651847474.055865953]: Listening to '/planning_scene'
[ INFO] [1651847474.055890018]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1651847474.056981798]: Listening to '/collision_object'
[ INFO] [1651847474.057909013]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1651847474.058257948]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1651847474.061443062]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1651847474.074040013]: Initializing OMPL interface using ROS parameters
[ INFO] [1651847474.083310310]: Using planning interface 'OMPL'
[ INFO] [1651847474.085295264]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1651847474.085501257]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1651847474.085693770]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847474.085900324]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847474.086092015]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1651847474.086287048]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1651847474.086311449]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1651847474.086323462]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1651847474.086333088]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1651847474.086345243]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1651847474.086353999]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1651847479.094899661]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1651847485.095080548]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1651847491.095258476]: Action client not connected: /follow_joint_trajectory
[ INFO] [1651847491.145437200]: Returned 0 controllers in list
[ INFO] [1651847491.150718714]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1651847491.177652954]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1651847491.177689133]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1651847491.177702904]: MoveGroup context initialization complete
You can start planning now!
Issue with "DefaultAssets" when building for Windows
I've been trying to build a single scene to a windows executable for a demo. However, I get a compile error involving a property DefaultAssets
Packages/ZeroSimROSUnity/Runtime/Scripts/Sensors/RGBCamera/ZORGBCamera.cs(132,67): error CS1061: 'ZOROSUnityManager' does not contain a definition for 'DefaultAssets' and no accessible extension method 'DefaultAssets' accepting a first argument of type 'ZOROSUnityManager' could be found (are you missing a using directive or an assembly reference?)
I cannot find any reference to DefaultAssets on the internet, nor in the ZeroSim code base.
I tried to do a quick fix by commenting out line 127 and 129 to 131.
ZeroSimROSUnity/Runtime/Scripts/Sensors/RGBCamera/ZORGBCamera.cs
Lines 127 to 131 in 18ecee0
However, this produces the error
Error while executing command: Library/PackageCache/[email protected]/.Runtime/hostlin/vswhere.exe -legacy -latest -format value -property installationPath
I know ZeroSim is not tested for Windows but I hope someone have some insight into this issue.
ZODocker.cs error after installing ZeroSim package for Unity 3D
Hello, i tried to do the "Running TurtleBot Test Scene" tutorial, but when i tried to start the Unity simulation, i see 2 errors on the console, they say the following:
- Library/PackageCache/com.fsstudio.zerosim@c832f0ecd7/Runtime/Scripts/Util/Docker/ZODocker.cs(9,7): error CS0246: The type or namespace name 'Docker' could not be found (are you missing a using directive or an assembly reference?)
- Library/PackageCache/com.fsstudio.zerosim@c832f0ecd7/Runtime/Scripts/Util/Docker/ZODocker.cs(10,7): error CS0246: The type or namespace name 'Docker' could not be found (are you missing a using directive or an assembly reference?)
I really dont know what i did wrong because i did everything that is said in the "Setting up a new Unity Project" and "Getting ZeroSim ROS Docker Container" tutorials. My system is: Ubuntu 20.04, ROS Noetic, Unity 2020.3.18f1.
I already installed docker and can run it without any problem.
Point clouds of the 3D lidar have no difference when the orientation of the transform is changed
Hi @micahpearlman, I am using the 3D lidar for object detection. I noticed that the point clouds of the lidar have no difference when the orientation (rotation) of the transform is changed but have differences when the position is changed.
I am with ZeroSim 0.1.9 and running the ROSPointCloud2Publish_test scene.
Are there any parameters for the lidar or publisher needed to be set when changing the orientation? Could you please give some advice? Thank you!
Running in ROS2
Hi there, is there a tutorial available for showing how to run the package in ROS2. The ROS2 rosbridge_server does not have a launch file to start up the tcp node (https://github.com/RobotWebTools/rosbridge_suite/tree/ros2/rosbridge_server/launch), which is different from ROS1 rosbridge_server (https://github.com/RobotWebTools/rosbridge_suite/tree/ros1/rosbridge_server/launch). Thank you!
Fix: Joint Angles Bug
ZeroSim hinge joints limits the joint angle in the range [-180, 180] degrees.
This limitation can be avoided by using Configurable Joints instead of Hinge Joints.
However, instead of implementing the Configurable Joints, check the possibility to use Articulation Body instead.
https://docs.unity.cn/Manual/physics-articulations.html
There are unanswered questions about this on the Unity forum:
Fix: Communication with ZeroSim is lost when controller_manager node is terminated
When the controller manager is launched using ur10_moveit.launch and then terminated, ROS Suite loses communication with Unity.
To re-establish communication, ZeroSim and ROS Suite must be restarted.
Cannot Import URDF as described in tutorial
Hello, I am trying to import the ur10 urdf as seen in the tutorial, however each time I import the urdf file I get the following error:
" DirectoryNotFoundException: Could not find a part of the path "/home/angel/ur10/package:/ur_description/meshes/ur10/visual/base.dae" "
Is there anything I need to modify to successfully import the urdf?
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