-
Notifications
You must be signed in to change notification settings - Fork 42
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Errors when launching torqueControlBalancing #151
Comments
Thanks @DanielePucci, indeed this is due to robotology/icub-models#230 . A quick workaround may be to change fyi @gabrielenava |
Thanks @traversaro for the heads up. I modified the name of the frame at the line https://github.com/robotology/whole-body-controllers/blob/master/controllers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configRobot.m#L37 and actually this solved the issue. After this, however, I got the error
Thanks to @gabrielenava, this was solved by removing the "Error on missing connection" option in the read port block, which was actually on - see below We should understand then why this happens (changing name of the port or format, etc). After this, I was able to launch the yoga icub-yoga.mp4There is the initial motion that is suspicious, but I think that the rest is fine. The robot cannot switch from one foot to the other, but I guess that this is a matter of tuning |
Probably it is a consequence of deprecation and subsequent removal of the |
I believe that I was kinda of lucky, since I was not able to reproduce consistently the demo in the comment above. In particular, I noticed that the A feature that I remember that it should be there when controller and simulator are synched. Gazebo seems ok, since I made the alias in the .zshrc
and in fact when I launch gazebo in the terminal, the first lines are
I also checked that I am using the synchroniser in the controller, and it seems so since my |
Other related issues: |
That "Resetting YARP clock to default" is fishy, I saw something similar in a issue by Guglielmo. |
imu_frame
?
To test if the possible synchronisation issue, I followed the @traversaro suggestion to check the RPC port
with start and stop commands, and it seems to work Screen.Recording.2024-01-17.at.10.49.45.mp4So probably the problem is on the "Simulink" side |
It seems that the problem above #151 (comment) related to the synchroniser was apparent since after sometime the simulation starts, the real time factor does go to zero - although not immediately. By talking to @traversaro, it may be a problem of how simulink computes the real time factor. So, I am closing this issue. |
I am trying to lunch the Yoga demo using the floating-base-balancing-torque-control.
After installing the robotlogy-superbuild thanks to the help of @traversaro - and during which process we found some problems due to the ARM on macOS robotology/robotology-superbuild#1044 (comment) - I was able to happily launch gazebo
Also, I was able to compile the floating-base-balancing-torque-control
But the problem arose when launching the module that threw the error
I am trying to understand how to make it run anyways, but it seems that there is the lack of a frame.
@traversaro @Nicogene
The text was updated successfully, but these errors were encountered: