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The robot will fly away in gazebo in bring_up demo #129

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Tianhuanyu opened this issue Oct 23, 2023 · 3 comments
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The robot will fly away in gazebo in bring_up demo #129

Tianhuanyu opened this issue Oct 23, 2023 · 3 comments
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@Tianhuanyu
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Tianhuanyu commented Oct 23, 2023 •
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When I run this demo:
`
ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 sim:=true rviz:=true moveit:=true

`
I meet this issue:

https://youtu.be/Muy3wggZf3s

The planning execution of robot should have no problem, but the basement link may be not fixed. So the robot 'fly away' in gazebo
@mhubii
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mhubii commented Oct 26, 2023

thanks for sharing this issue @Tianhuanyu! This was introduced with #121. We are investigating a fix

@mhubii mhubii added the bug Something isn't working label Oct 26, 2023
@mhubii mhubii mentioned this issue Oct 26, 2023
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@mhubii
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mhubii commented Nov 1, 2023

when launching the system with base_frame:=world, everything works as intended. E.g.

ros2 launch lbr_bringup bringup.launch.py model:=iiwa7 moveit:=true sim:=true base_frame:=world

It appears that Gazebo requires a specific name for the base frame.

@mhubii mhubii mentioned this issue Nov 21, 2023
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@mhubii mhubii mentioned this issue Dec 5, 2023
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mhubii added a commit that referenced this issue Dec 8, 2023
@mhubii
Merge pull request #142 from lbr-stack/dev-humble-v1.4.0
65461c1 
To be addressed in `v1.4.1`:

- [ ] LBR wrench command controller (TODO: gpio)
- [ ] Depract app.launch.py https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_fri_ros2/launch/app.launch.py
- [ ] Gazebo floating base #129 
- [ ] `ros2_control` admittance control demo https://github.com/ros-controls/ros2_controllers/tree/master/admittance_controller
mhubii added a commit that referenced this issue Dec 15, 2023
@mhubii
removed base frame #129
24c24be
@mhubii mhubii mentioned this issue Dec 15, 2023
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mhubii commented Dec 15, 2023

fixed in #144

@mhubii mhubii closed this as completed Dec 15, 2023
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@mhubii @Tianhuanyu