Re: [OpenRAVE-users] willowgarage pr2 model

[garratt <ga...@cs...>]

Hi Rosen,

I'm trying to run openrave on the PR2.

So I followed the instruction on:
http://openrave.programmingvision.com/index.php/Installing_OpenRAVE_on_PR2

and ran rosrun openrave_actionlib setup_controllers.py
I see a lot of topics, like:
/midbody_controller/command
/midbody_controller/joint_trajectory_action/cancel
/midbody_controller/joint_trajectory_action/feedback
/midbody_controller/joint_trajectory_action/goal
/midbody_controller/joint_trajectory_action/result
/midbody_controller/joint_trajectory_action/status
/midbody_controller/state

and I tried to load robots/pr2-beta.robot.xml, but I got  a bunch of:
[colladareader.h:1585] Not Exists Motion axis info, joint
base_footprint_joint (with the appropriate joint name)
for most of the joints.
then, after loading:

[colladareader.h:1182] Robot (null) created ...
True
>>> terminate called after throwing an instance of 'std::out_of_range'
  what():  vector::_M_range_check
Aborted

Am I missing something?
Garratt


On Wed, 2010-06-09 at 13:03 -0400, Rosen Diankov wrote:
> dear all,
> 
> the pr2 robot model is up on openrave:
> 
> robots/pr2-beta-static.robot.xml - defines the basic kinematics and
> sensor frames
> robots/pr2-beta-sim.robot.xml - attaches simulated sensors
> 
> We've tested that ikfast, grasping, and basic manipulation works.  The
> pr2 is an excellent dual manipulation platform, so even if you don't
> have a real pr2, it might be worth doing experiments with it.
> 
> For those lucky few that actually got a pr2, you can use the
> openrave_actionlib ros package to control the mid-body of the pr2
> (leftarm+rightarm+torso). The load the correct mid-body controller,
> please run
> 
> rosrun openrave_actionlib setup_controllers.py
> 
> Then add the openrave_actoinlib/lib to OPENRAVE_PLUGINS and open the
> openrave_actionlib/robots/pr2-beta.robot.xml, which loads the
> controller.
> 
> rosen,
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