Migrate iCub3 models to use gazebo_yarp_robotinterface plugin #222
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traversaro
requested review from
Nicogene,
S-Dafarra,
prashanthr05 and
GiulioRomualdi
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This change would be beneficial so that we could run |
Nicogene
reviewed
Jul 29, 2022
I agree, but I wanted to minimize the changes w.r.t. to the old way of doing. Once this gets trough, we can get rid of the many .ini files. |
This change was released in https://github.com/robotology/gazebo-yarp-plugins/releases/tag/v4.5.0 , this was fixed. |
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Regarding the last two bullet points, can we have a short meeting @S-Dafarra and who do you think it is useful to have to sort it out, so that I can complete this PR? |
This might be useful: https://github.com/ami-iit/robots-configuration/blob/ac3d78863ee73566c9a810e6eff782ef644e5230/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml |
Related configuration file on the robot: https://github.com/ami-iit/robots-configuration/blob/ac3d78863ee73566c9a810e6eff782ef644e5230/iCubGenova09/sensors/RealSense_conf.ini |
Thanks, this was fixed in: |
As the chest RGBD sensor location is in the process of being redesigned, we decided to leave it aside, and we add it back when it is ready and sistematically used. |
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I rendered this branch in https://github.com/robotology/icub-models/tree/debug222, so this branch can be used to test the updated iCub3 model. @S-Dafarra @mebbaid do you think someone can test it against some complex iCub3 scenario such as walking? Thanks! |
@mebbaid could you try it? |
I will try it at at the end of today |
I checked out to the branch |
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I found some issues:
This issue have been fixed in d3c27c1 . There is also another fix that created the crash when using the iCubGazeboV3 (fixed), that was a bug in gazebo-yarp-plugins, see robotology/gazebo-yarp-plugins#633 . I also did some cosmetic changes to YARP to increase the debuggability, but for those I will do PR later. |
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I started a CI job, so the new models should be in the debug222 branch of icub-models in ~10 minutes. |
I tried the branch again, and perhaps as expected, I think mergin the fix in robotology/gazebo-yarp-plugins#633 (comment) (if I understood correctly) should fix this. |
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Yes, that problem should solved by robotology/gazebo-yarp-plugins#633 (comment) . |
The change was merged and released in gazebo-yarp-plugins v4.5.1 (https://github.com/robotology/gazebo-yarp-plugins/releases/tag/v4.5.1). According to @GiulioRomualdi, the PR is working fine, @GiulioRomualdi @mebbaid feel free to approve if you like. |
Nicogene
approved these changes
Sep 28, 2022
mebbaid
approved these changes
Sep 28, 2022
mebbaid
approved these changes
Sep 28, 2022
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This PR migrates the iCub3 models to use the
gazebo_yarp_robotinterfaceplugin, and to remove the need to use the wrappers by the Gazebo plugins.Furthermore, the use of
gazebo_yarp_robotinterfacewould simplify aligning the simulated and the real robot, see for example https://github.com/robotology/icub-models-generator/compare/migrateicub3robint?expand=1#diff-1c5f5e2280364c4f70d59f6a0c5d5d9e1f5be5da33f10b4d652b1b5a700e24b8 that was directly taken from https://github.com/ami-iit/robots-configuration/blob/devel_iCubGenova09/iCubGenova09/icub_wbd.xml, with the appropriate modifications.This PR is not ready to merge as it is, as it is currently: