No data from active joint encoders #3
Comments
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Hi Kamil, Hmm, that is odd, I haven't see this before. Can you try one thing, close the ros application, (i.e. terminate |
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Hi Adnan, I tried it. But it does not change. I mean that three active encoder joint positions are still 0,0,0 and pose.positions x,y,z are still 0,-110,-35. However, the other gimbal positions and orientation are changing. It is really strange case. |
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Yeah I haven't seen this one before. I do not have a device with me for a few months to test this out for myself. Looking at the code, the HDCallbackCode HDCALLBACK device_state_callback(void *pUserData) {
DeviceState *device_state = static_cast<DeviceState *>(pUserData);
if (hdCheckCalibration() == HD_CALIBRATION_NEEDS_UPDATE) {
ROS_DEBUG("Updating calibration...");
hdUpdateCalibration(calibrationStyle);
}
hdBeginFrame(hdGetCurrentDevice());
//Get angles, set forces
hdGetDoublev(HD_CURRENT_GIMBAL_ANGLES, device_state->rot);
hdGetDoublev(HD_CURRENT_POSITION, device_state->position);
hdGetDoublev(HD_CURRENT_JOINT_ANGLES, device_state->joints);
hdGetDoublev(HD_CURRENT_TRANSFORM, device_state->transform);
hduVector3Dd vel_buff(0, 0, 0);
vel_buff = (device_state->position * 3 - 4 * device_state->pos_hist1
+ device_state->pos_hist2) / 0.002; //mm/s, 2nd order backward dif
device_state->velocity = (.2196 * (vel_buff + device_state->inp_vel3)
+ .6588 * (device_state->inp_vel1 + device_state->inp_vel2)) / 1000.0
- (-2.7488 * device_state->out_vel1 + 2.5282 * device_state->out_vel2
- 0.7776 * device_state->out_vel3); //cutoff freq of 20 Hz
device_state->pos_hist2 = device_state->pos_hist1;
device_state->pos_hist1 = device_state->position;
device_state->inp_vel3 = device_state->inp_vel2;
device_state->inp_vel2 = device_state->inp_vel1;
device_state->inp_vel1 = vel_buff;
device_state->out_vel3 = device_state->out_vel2;
device_state->out_vel2 = device_state->out_vel1;
device_state->out_vel1 = device_state->velocity;
for(int i=0; i<3;i++){
if (device_state->lock[i]) {
device_state->force[i] = 0.3 * (device_state->lock_pos[i] - device_state->position[i])
- 0.001 * device_state->velocity[i];
}
}
hdSetDoublev(HD_CURRENT_FORCE, device_state->force);
//Get buttons
int nButtons = 0;
hdGetIntegerv(HD_CURRENT_BUTTONS, &nButtons);
device_state->buttons[0] = (nButtons & HD_DEVICE_BUTTON_1) ? 1 : 0;
device_state->buttons[1] = (nButtons & HD_DEVICE_BUTTON_2) ? 1 : 0;
hdEndFrame(hdGetCurrentDevice());
HDErrorInfo error;
if (HD_DEVICE_ERROR(error = hdGetError())) {
hduPrintError(stderr, &error, "Error during main scheduler callback");
if (hduIsSchedulerError(&error))
return HD_CALLBACK_DONE;
}
float t[7] = { 0., device_state->joints[0], device_state->joints[1],
device_state->joints[2] - device_state->joints[1], device_state->rot[0],
device_state->rot[1], device_state->rot[2] };
for (int i = 0; i < 7; i++)
device_state->thetas[i] = t[i];
return HD_CALLBACK_CONTINUE;
}It may be possible that there in an update to the |
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I am using a Geomagic Touch device with an ethernet connection. I did run |
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I don't think that
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It does not change for publishg sensor data. But, when I do catkin_make, now there is no warnings about double / floating. However, there is still warning for conflict on libncurses: Scanning dependencies of target device_node |
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SOLVED :) In case you have some troubles and your first 3 values are 0, you probably don't have English set as main language. Thats a problem coming from Open Haptics. Simply add this to your ~/.bashrc This is already written in Readme.md files. But I solved the issue changing all language settings as en_US.UTF-8 on my ubuntu. |
@RaMathuZen |
Yeah I can . Ping me through mail, my mail ID is in my GitHub profile. |
Hi,
I have 3D Systems' Touch device and run this package and device with ROS noetic on Ubuntu 20.04. I can calibrate and read all encoder data from Touch_Diagnostic. When I do roslaunch geomagic_control geomagic_headless.launch, I have these ros topic list:
rostopic list
/Geomagic/button
/Geomagic/force_feedback
/Geomagic/joint_states
/Geomagic/joy
/Geomagic/pose
/Geomagic/twist
/rosout
/rosout_agg
/tf
/tf_static
When I echo all ros topics, I recognize that there is data coming from buttons and passive wrist joints (from gimbal encoders) but not from active joints such as
when I do rostopic echo /Geomagic/joint_states, only gimbal positions are published:
position: [-0.0, 0.0, 0.0, 2.5234922488504132, -2.9634022653083116, 4.908947141962596]
or when I do rostopic echo /Geomagic/pose, only orientation data are published:
pose:
position:
x: 0.0
y: -110.0
z: -35.0
orientation:
x: -0.405031046104968
y: -0.036064943439096685
z: -0.6450909096350691
w: 0.6469210967625927
Do you know that is there any reason for that?
Thanks,
KC
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