ihmc_ros/valkyrie/control topics Issue

[osrf-migration]

Original report (archived issue) by Erica Tiberia (Bitbucket: T_AL).

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Memory: 11.6 GIB Processor Intel Core i5-6200U CPU@ 2.30GHz x4 OS-type 64-bit

I have a feeling this issue is related to ihmc controller.

I have increased the delay in (delayed_roslaunch.sh) file to 8 seconds and I commented out the lines to lower the harness and detach Val in the (init_robot.sh) file.

Everything loads properly and I can send commands to lower the harness and detach Val by publishing commands in a new terminal.
I can get also subscribe to the sensor data, camera etc. All the topics are there as you can see below but any message that I publish to the ihmc_ros/valkyrie/control has no effect.
I have attached the image of rqt_graph showing all the nodes, it includes the published action for Val to move his right arm.

• /hardware_joint_states mario@mario-Inspiron-5559:~$ rostopic list
• /ihmc_ros/localization/pelvis_odom_pose_correction
• /ihmc_ros/localization/pelvis_pose_correction
• /ihmc_ros/valkyrie/control/abort_walking
• /ihmc_ros/valkyrie/control/arm_desired_joint_accelerations
• /ihmc_ros/valkyrie/control/arm_trajectory
• /ihmc_ros/valkyrie/control/chest_trajectory
• /ihmc_ros/valkyrie/control/end_effector_load_bearing
• /ihmc_ros/valkyrie/control/foot_trajectory
• /ihmc_ros/valkyrie/control/footstep_list
• /ihmc_ros/valkyrie/control/go_home
• /ihmc_ros/valkyrie/control/hand_desired_configuration
• /ihmc_ros/valkyrie/control/hand_trajectory/clock
• /force_torque_states
• /gazebo/link_states
• /gazebo/model_states
• /gazebo/parameter_descriptions
• /gazebo/parameter_updates
• /gazebo/set_link_state
• /gazebo/set_model_state
• /hardware_joint_commands
• /ihmc_ros/valkyrie/control/head_trajectory
• /ihmc_ros/valkyrie/control/high_level_state
• /ihmc_ros/valkyrie/control/low_level_control_mode
• /ihmc_ros/valkyrie/control/neck_desired_acceleration
• /ihmc_ros/valkyrie/control/neck_trajectory
• /ihmc_ros/valkyrie/control/pause_walking
• /ihmc_ros/valkyrie/control/pelvis_height_trajectory
• /ihmc_ros/valkyrie/control/pelvis_orientation_trajectory
• /ihmc_ros/valkyrie/control/pelvis_trajectory
• /ihmc_ros/valkyrie/control/request_stop
• /ihmc_ros/valkyrie/control/stop_all_trajectories
• /ihmc_ros/valkyrie/control/whole_body_trajectory
• /ihmc_ros/valkyrie/output/behavior
• /ihmc_ros/valkyrie/output/capturability/capture_point
• /ihmc_ros/valkyrie/output/capturability/center_of_mass
• /ihmc_ros/valkyrie/output/capturability/desired_capture_point
• /ihmc_ros/valkyrie/output/capturability/is_in_double_support
• /ihmc_ros/valkyrie/output/capturability/left_foot_support_polygon
• /ihmc_ros/valkyrie/output/capturability/right_foot_support_polygon
• /ihmc_ros/valkyrie/output/foot_force_sensor/left
• /ihmc_ros/valkyrie/output/foot_force_sensor/right
• /ihmc_ros/valkyrie/output/footstep_status
• /ihmc_ros/valkyrie/output/high_level_state
• /ihmc_ros/valkyrie/output/high_level_state_change
• /ihmc_ros/valkyrie/output/imu/pelvis_pelvisMiddleImu
• /ihmc_ros/valkyrie/output/imu/pelvis_pelvisRearImu
• /ihmc_ros/valkyrie/output/imu/torso_leftTorsoImu
• /ihmc_ros/valkyrie/output/imu/upperNeckPitchLink_head_imu_sensor
• /ihmc_ros/valkyrie/output/joint_states
• /ihmc_ros/valkyrie/output/robot_motion_status
• /ihmc_ros/valkyrie/output/robot_pose
• /ihmc_ros/valkyrie/output/walking_status
• /imu_states
• /leftTorsoImu/imu
• /multisense/camera/left/camera_info
• /multisense/camera/left/image_raw
• /multisense/camera/left/image_raw/compressed
• /multisense/camera/left/image_raw/compressed/parameter_descriptions
• /multisense/camera/left/image_raw/compressed/parameter_updates
• /multisense/camera/left/image_raw/compressedDepth
• /multisense/camera/left/image_raw/compressedDepth/parameter_descriptions
• /multisense/camera/left/image_raw/compressedDepth/parameter_updates
• /multisense/camera/left/image_raw/theora
• /multisense/camera/left/image_raw/theora/parameter_descriptions
• /multisense/camera/left/image_raw/theora/parameter_updates
• /multisense/camera/left/parameter_descriptions
• /multisense/camera/left/parameter_updates
• /multisense/camera/right/camera_info
• /multisense/camera/right/image_raw
• /multisense/camera/right/image_raw/compressed
• /multisense/camera/right/image_raw/compressed/parameter_descriptions
• /multisense/camera/right/image_raw/compressed/parameter_updates
• /multisense/camera/right/image_raw/compressedDepth
• /multisense/camera/right/image_raw/compressedDepth/parameter_descriptions
• /multisense/camera/right/image_raw/compressedDepth/parameter_updates
• /multisense/camera/right/image_raw/theora
• /multisense/camera/right/image_raw/theora/parameter_descriptions
• /multisense/camera/right/image_raw/theora/parameter_updates
• /multisense/camera/right/parameter_descriptions
• /multisense/camera/right/parameter_updates
• /multisense/fps
• /multisense/imu
• /multisense/joint_states
• /multisense/lidar_scan
• /multisense/set_fps
• /multisense/set_spindle_speed
• /pelvisMiddleImu/imu
• /pelvisRearImu/imu
• /rosout
• /rosout_agg
• /rtt_period_overflow
• /rtt_rate
• /statistics
• /tf
• /tf_static
• /valkyrie/harness/detach
• /valkyrie/harness/velocity

[osrf-migration]

Original comment by Erica Tiberia (Bitbucket: T_AL).

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I should have included that when the release harness message is sent Val drops to the ground like a wet sack of potatoes!

Issues #6,#9 and #16 may be related?

[osrf-migration]

Original comment by Phil Bolenbaugh (Bitbucket: philbevv).

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My experience matches this description on most runs now that I've added delays. I'm running clean installs on virtualbox VMs with 8GB and 4CPUs assigned. Hardware is i7 with 12GB.

I would add that walk_test.py stalls waiting for a subscriber to its .../footstep_list messages.

[osrf-migration]

Original comment by dan (Bitbucket: dan77062).

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Right now you have to have 4 physical cores in the processor. The i5-6200U (as well as my i7-6600U) only has 2 cores. Hyperthreading allows 4 threads, which is why you see 4 CPUs when looking at the number of processors. Until that is resolved, the ihmc controller will not work on a 2 core processor. See the detailed explanation by Douglas Stephen in issue #6.
He provided a link where the issue is being worked on by ihmc.

[osrf-migration]

Original comment by Erica Tiberia (Bitbucket: T_AL).

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What are the chances that the issue will be resolved in the next few days?
Will I need to purchase a new computer?

[osrf-migration]

Original comment by dan (Bitbucket: dan77062).

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The ihmc thread says that they expect to have a solution sometime next week.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set assignee_account_id to "557058:095b1e12-74ed-4e20-b44f-2f0745b616e0"
• set assignee to "nkoenig (Bitbucket: nkoenig, GitHub: nkoenig)"

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Also, this competition will not run correctly in a virtualbox.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "duplicate"

Duplicate of #6.