Stack Of Tasks issueshttps://gepgitlab.laas.fr/groups/stack-of-tasks/-/issues2020-09-03T05:26:56Zhttps://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/22Parameter server2020-09-03T05:26:56ZGuilhem SaurelParameter server*Created by: nim65s*
Hi @olivier-stasse,
Since https://github.com/stack-of-tasks/sot-core/pull/156, when I launch the test kine, I have:
```
Read Sot Vector State Param
[ WARN] [1599048510.382045619, 1.534000000]: initRequest 1
...*Created by: nim65s*
Hi @olivier-stasse,
Since https://github.com/stack-of-tasks/sot-core/pull/156, when I launch the test kine, I have:
```
Read Sot Vector State Param
[ WARN] [1599048510.382045619, 1.534000000]: initRequest 1
[ WARN] [1599048510.423041666, 1.548000000]: No parameter /sot_controller/effort_controler_pd_motor_init
[ WARN] [1599048510.423389623, 1.548000000]: No parameter /sot_controller/velocity_controler_pd_motor_init
[ WARN] [1599048510.423722108, 1.549000000]: initRequest 2
[ERROR] [1599048510.429919441, 1.550000000]: Wrong initialization of parameter_name /robot_description
[ WARN] [1599048510.431565747, 1.550000000]: initRequest 3
[ WARN] [1599048510.898135668, 1.771000000]: initRequest 4
[ERROR] [1599048512.235835262, 2.533000000]: Traceback (most recent call last):
File "<string>", line 1, in <module>
File "…/site-packages/dynamic_graph/sot/pyrene/prologue.py", line 29, in makeRobot
robot = Robot(name='talos', device=DeviceTalos('PYRENE'), fromRosParam=True)
File "…/site-packages/dynamic_graph/sot/pyrene/robot.py", line 51, in __init__
Talos.__init__(self, name, device=device, tracer=tracer, fromRosParam=fromRosParam)
File "…/site-packages/dynamic_graph/sot/talos/talos.py", line 75, in __init__
self.param_server.init_simple(ltimeStep)
RuntimeError: No robot registered in the parameter server list listOfRobots->size: 0
```
The first ERROR comes from here: https://github.com/stack-of-tasks/dynamic_graph_bridge/blob/master/src/ros_parameter.cpp#L45
Is anything missing in talos_integration_test, eg. to publish an URDF to `/robot_description` before launching the test ?https://gepgitlab.laas.fr/stack-of-tasks/talos-bauzil/-/issues/1Release2020-08-10T10:22:57ZGuilhem SaurelReleaseHello,
This project is protected and not released. Therefore, it can't be used by other public projects. This is blocking Hugo's work here: https://github.com/stack-of-tasks/talos_integration_tests/pull/17#discussion_r467063967
@tlasgu...Hello,
This project is protected and not released. Therefore, it can't be used by other public projects. This is blocking Hugo's work here: https://github.com/stack-of-tasks/talos_integration_tests/pull/17#discussion_r467063967
@tlasguigne : Do you think that we can open the source and release this project ? As usual, I can help with those tasks.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/18Something is broken upstream2021-05-25T07:31:36ZGuilhem SaurelSomething is broken upstream*Created by: nim65s*
Hi,
I can't run those tests anymore. Here is one of the error that seems relevant in the logs:
```
[FATAL] [1596547315.306076114, 0.019000000]:
Failed to create robot simulation interface loader:
Failed to ...*Created by: nim65s*
Hi,
I can't run those tests anymore. Here is one of the error that seems relevant in the logs:
```
[FATAL] [1596547315.306076114, 0.019000000]:
Failed to create robot simulation interface loader:
Failed to load library /opt/openrobots/lib//libpal_hardware_gazebo.so.
Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro
in the library code, and that names are consistent between this macro and your XML.
Error string: Could not load library (Poco exception =
/opt/openrobots/lib//libpal_hardware_gazebo.so: undefined symbol:
_ZN18gazebo_ros_control17DefaultRobotHWSim13prepareSwitchERKNSt7__cxx114listIN18hardware_interface14ControllerInfoESaIS4_EEES8_)
```https://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/16Launch issues on 16.042020-06-19T07:02:20ZGuilhem SaurelLaunch issues on 16.04*Created by: nim65s*
Hi,
Following #15, trying to launch the first test on 16.04 yields the following error:
```
[Testcase: testtest_sot_talos_kine] ... ok
[ROSTEST]-------------------------------------------------------------...*Created by: nim65s*
Hi,
Following #15, trying to launch the first test on 16.04 yields the following error:
```
[Testcase: testtest_sot_talos_kine] ... ok
[ROSTEST]-----------------------------------------------------------------------
[talos_integration_tests.rosunit-test_sot_talos_kine/runTest][ERROR]------------
not all arguments converted during string formatting
File "/usr/lib/python2.7/unittest/case.py", line 329, in run
testMethod()
File "/ws/install/lib/talos_integration_tests/start_talos_gazebo_kine.py", line 65, in runTest
launch_gazebo_alone.start()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
self._start_infrastructure()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
self._load_config()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 450, in load_config_default
logger.info('loading config file %s'%f)
--------------------------------------------------------------------------------
SUMMARY
* RESULT: FAIL
* TESTS: 1
* ERRORS: 1
* FAILURES: 0
```https://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/14[Dockerfile] On 16.042020-06-23T16:56:31ZOlivier Stasse[Dockerfile] On 16.04Dear @nim65s,
Trying the operation:
```bash
docker build -t talos-integration-tests:16.04 --build-arg UBUNTU_VERSION=16.04 --build-arg UBUNTU=xenial --build-arg ROS_DISTRO=kinetic .
```
I get the following error:
```
Processing ...Dear @nim65s,
Trying the operation:
```bash
docker build -t talos-integration-tests:16.04 --build-arg UBUNTU_VERSION=16.04 --build-arg UBUNTU=xenial --build-arg ROS_DISTRO=kinetic .
```
I get the following error:
```
Processing triggers for libc-bin (2.23-0ubuntu11) ...
gpg: unknown option 'import-show'
gpg: invalid import options
```
https://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/7Wrong use of self.assertTrue()2020-05-25T16:30:01ZOlivier StasseWrong use of self.assertTrue()Due to a misuse of self.assertTrue() the tests are always sending back true even if they are wrong.
Due to a misuse of self.assertTrue() the tests are always sending back true even if they are wrong.
https://gepgitlab.laas.fr/stack-of-tasks/stack-of-tasks.github.com/-/issues/7Getting started now button -> 4042020-05-18T15:53:44ZOlivier StasseGetting started now button -> 404This is due to the missing download.html file.
This is due to the missing download.html file.
https://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/6Fix paths for applis, even in remote2020-06-09T09:14:06ZGuilhem SaurelFix paths for applis, even in remote*Created by: nim65s*
ref comments in #2
@olivier-stasse agreed on installing those files in the standard `${PYTHON_SITELIB}` and finding their path thanks to the python import system.*Created by: nim65s*
ref comments in #2
@olivier-stasse agreed on installing those files in the standard `${PYTHON_SITELIB}` and finding their path thanks to the python import system.https://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/5test_sot_talos_balance errors2020-06-09T11:24:50ZGuilhem Saureltest_sot_talos_balance errors*Created by: nim65s*
Hi,
Now that #3 is fixed and I can run `test_kine`, I would like to try the second one.
It is not working with the latest binary releases.
Here is my error:
```
In SignalPtr: SIN ptr not set. (in signal <Ta...*Created by: nim65s*
Hi,
Now that #3 is fixed and I can run `test_kine`, I would like to try the second one.
It is not working with the latest binary releases.
Here is my error:
```
In SignalPtr: SIN ptr not set. (in signal <TalosControlManager(ctrl_man)::input(dynamicgraph::Vector)::ctrl_sot_input>)
```
@olivier-stasse : don't you have the same error ? Is everything up-to-date on your computer ? And more importantly… Do you know how to fix it ?Olivier StasseOlivier Stassehttps://gepgitlab.laas.fr/stack-of-tasks/talos_integration_tests/-/issues/3test_kine errors2020-05-15T03:01:52ZGuilhem Saureltest_kine errors*Created by: nim65s*
Hi,
Using #1 & #2, I get this error:
```
Failure happened during one_iteration(): when calling getControl
/local/robotpkg/var/tmp/robotpkg/wip/py-roscontrol-sot/work/roscontrol_sot-0.5.0/src/roscontrol-sot-...*Created by: nim65s*
Hi,
Using #1 & #2, I get this error:
```
Failure happened during one_iteration(): when calling getControl
/local/robotpkg/var/tmp/robotpkg/wip/py-roscontrol-sot/work/roscontrol_sot-0.5.0/src/roscontrol-sot-controller.cpp 960
In SignalPtr: SIN ptr not set. (in signal <Device(PYRENE)::input(double)::control>)
[ERROR] [1589193865.503502024, 8.928000000]: Failure happened during one_iteration evaluation: std::exception
Use gdb to investiguate the problem
/local/robotpkg/var/tmp/robotpkg/wip/py-roscontrol-sot/work/roscontrol_sot-0.5.0/src/roscontrol-sot-controller.cpp:1075
terminate called after throwing an instance of 'std::exception'
what(): std::exception
No handlers could be found for logger "rosout"
Aborted (core dumped)
```
Here are multiple things:
1. What is this `/local/robotpkg/` ? I installed everything from the binaries…
2. This `In SignalPtr: SIN ptr not set. (in signal <Device(PYRENE)::input(double)::control>)` is self-explanatory
3. `No handlers could be found for logger "rosout"` I'm probably missing something in my ROS setup. Any clue ?https://gepgitlab.laas.fr/stack-of-tasks/sot-qgv/-/issues/1Collect the need of the users2020-04-14T11:32:27ZOlivier StasseCollect the need of the usersIn this issue, we will collect the users desired features.
0/ Decide in which language the interface will be implemented Python or C++ ? (Python seems to be the best)
1/ Display of the graph at a given frequency.
2/ Creating instanc...In this issue, we will collect the users desired features.
0/ Decide in which language the interface will be implemented Python or C++ ? (Python seems to be the best)
1/ Display of the graph at a given frequency.
2/ Creating instances of Nodes
3/ Browsing of the plugins installed on the computer
4/ Plugging Nodes
5/ Interaction with the Nodes commands
https://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/4Hardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.py2020-02-19T11:08:48ZNoelie RamuzatHardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.pyIn 16.04 the path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data').
A temporary fix has been created in the script start_talos_gazebo_16_04.py, which hardcode the path (see pyrene-dev/talos_data!12)...In 16.04 the path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data').
A temporary fix has been created in the script start_talos_gazebo_16_04.py, which hardcode the path (see pyrene-dev/talos_data!12).
This should be removed, we have to find a way to retreive the path in 16.04.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/3roscpp is declared as a runtime dependency2019-12-29T18:02:24ZGuilhem Saurelroscpp is declared as a runtime dependencyHi,
If I install this package from robotpkg's binaries:
```bash
╰─>$ grep Require /opt/openrobots/lib/pkgconfig/talos_data.pc
Requires: urdfdom >= 0.2.9, gazebo >= 7.0.0, roscpp
```
I think that roscpp is not really a required runtime ...Hi,
If I install this package from robotpkg's binaries:
```bash
╰─>$ grep Require /opt/openrobots/lib/pkgconfig/talos_data.pc
Requires: urdfdom >= 0.2.9, gazebo >= 7.0.0, roscpp
```
I think that roscpp is not really a required runtime dependency here, and I suggest to remove it.https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/-/issues/1Job Failed #533412019-12-12T16:36:55ZGuilhem SaurelJob Failed #53341Job [#53341](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/-/jobs/53341) failed for 0b7862d601e98b4dfc9b9b0be27a93bd61a774d0:
The CI consider dynamic-graph and py-dynamic-graph as the same package here.Job [#53341](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-python/-/jobs/53341) failed for 0b7862d601e98b4dfc9b9b0be27a93bd61a774d0:
The CI consider dynamic-graph and py-dynamic-graph as the same package here.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/issues/2Job Failed #534472019-12-11T21:55:18ZGuilhem SaurelJob Failed #53447Job [#53447](https://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/jobs/53447) failed for 15aba634bcc7d042d9885ef15f80dddbaf1c15ed:
```
AttributeError: 'module' object has no attribute 'dgpyError'
```
-> release a new version of dynamic-...Job [#53447](https://gepgitlab.laas.fr/stack-of-tasks/sot-core/-/jobs/53447) failed for 15aba634bcc7d042d9885ef15f80dddbaf1c15ed:
```
AttributeError: 'module' object has no attribute 'dgpyError'
```
-> release a new version of dynamic-graph-python, and require that version here.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/talos-metapkg-ros-control-sot/-/issues/4How to achieve torque control with the stack-of-tasks?2019-09-10T01:15:44ZGuilhem SaurelHow to achieve torque control with the stack-of-tasks?*Created by: pi-q*
Hi! We would be interested in testing the stack-of-tasks for torque control with our Talos robot, but might need a little bit of guidance on how to make things work.
So far, we have installed stack-of-tasks softwar...*Created by: pi-q*
Hi! We would be interested in testing the stack-of-tasks for torque control with our Talos robot, but might need a little bit of guidance on how to make things work.
So far, we have installed stack-of-tasks software from robotpkg (sot-core, talos-dev, simple-humanoid-description, parametric-curves, tsid, soth), with the addition of [sot-torque-control](https://github.com/stack-of-tasks/sot-torque-control) and [talos-torque-control](https://github.com/pyrene-dev/talos-torque-control).
For some reason, I can't successfully get the robot to follow trajectories with torque control in Gazebo. Is there maybe something we are missing that we should know of?
I hope you can help! I am aware there is a lot of details missing in my question, just let me know what information you might need and I will provide it from there. Just to let you know, there is another very similar issue that I opened [here](https://github.com/pyrene-dev/talos-torque-control/issues/6), but I was not sure I would get a reply from that side.
Thanks!https://gepgitlab.laas.fr/stack-of-tasks/jrl-walkgen/-/issues/1Check MultiBody ZMP with TestNaveau2020-04-18T20:15:00ZOlivier StasseCheck MultiBody ZMP with TestNaveauhttps://gepgitlab.laas.fr/stack-of-tasks/tiago_data/-/issues/2Collision geometries of robots/tiago_steel.urdf are incorrect2019-06-13T14:47:39ZGuilhem SaurelCollision geometries of robots/tiago_steel.urdf are incorrect*Created by: florent-lamiraux*
Arm and head bodies seem incorrectly positioned.
![wrong-tiago](https://user-images.githubusercontent.com/436546/59279729-c1f22180-8c64-11e9-941f-20c7cbfafebd.png)
![tiago-good](https://user-images.git...*Created by: florent-lamiraux*
Arm and head bodies seem incorrectly positioned.
![wrong-tiago](https://user-images.githubusercontent.com/436546/59279729-c1f22180-8c64-11e9-941f-20c7cbfafebd.png)
![tiago-good](https://user-images.githubusercontent.com/436546/59279741-c6b6d580-8c64-11e9-94a5-26ea1bb1851d.png)
https://gepgitlab.laas.fr/stack-of-tasks/tiago_metapkg_ros_control_sot/-/issues/1SEGV on force sensor2019-05-30T19:43:55ZGuilhem SaurelSEGV on force sensor*Created by: jmirabel*
Dear @olivier-stasse
I get a SEGV because there is no force sensor values set in roscontrol_sot.
I see two workaround, depending on what we want to achieve:
- either remove `forces: forces` below
https:/...*Created by: jmirabel*
Dear @olivier-stasse
I get a SEGV because there is no force sensor values set in roscontrol_sot.
I see two workaround, depending on what we want to achieve:
- either remove `forces: forces` below
https://github.com/stack-of-tasks/tiago_metapkg_ros_control_sot/blob/2fde7d70dc61d470e4592a47a48bbdd5b58658c5/roscontrol_sot_tiago/config/sot_tiago_params_gazebo.yaml#L8
- change the size of related signal in ~~roscontrol_sot_tiago~~ **sot-tiago**.
The second option is likely a bit more robust.https://gepgitlab.laas.fr/stack-of-tasks/sot-tiago/-/issues/2Make SoT reloadable2019-05-15T11:51:31ZGuilhem SaurelMake SoT reloadable*Created by: jmirabel*
It should be sufficient to wrap the prologue into a function, and call this function in the controller, where the prologue is imported.*Created by: jmirabel*
It should be sufficient to wrap the prologue into a function, and call this function in the controller, where the prologue is imported.