chvmp / champ_setup_assistant Goto Github PK

has anyone successfully been able to load the GO2 urdf? When i do, i get the 3 joints for each leg, but no feet in the menu on the left hand side. I tried comparing to the GO1 and A1 urdf, and they have the feet and can be used in the config. Im using the URDF from the unitree_ros github

Dear developers,

I have made some changes to make champ_setup_assistant work with ROS 2, for my project with quadruped robot. This includes robot_state_plugin for visualisation.
You can find the changes in my repository

• robot_state_plugin https://github.com/friackazoid/robot_state_plugin
• champ_setup_assistant https://github.com/friackazoid/champ_setup_assistant

For rviz python bindings I used the project of another contributor https://github.com/jrgnicho/ros2_support_utilities
Please let me know if you are interested in using this code in your project, I would appreciate any guidance on how to clean up and improve the code.

Traceback (most recent call last):
  File "/xxx/champ_setup_assistant/scripts/rviz_widget.py", line 121, in on_urdf_path_load
    self.main.robot.load_urdf(urdf_path)
  File "/xxx/champ_setup_assistant/scripts/urdf_parser.py", line 55, in load_urdf
    self.end_links = self.get_end_links()
  File "/xxx/champ_setup_assistant/scripts/urdf_parser.py", line 205, in get_end_links
    if not self.link_has_child(link) and not self.link_attached_to_base(link):
  File "/xxx/champ_setup_assistant/scripts/urdf_parser.py", line 174, in link_has_child
    return self.robot.child_map.has_key(link_name)
AttributeError: 'dict' object has no attribute 'has_key'

should change

return link_name in self.robot.child_map

to

return self.robot.child_map.has_key(link_name)

Traceback (most recent call last):
File "/home/siddarth/spot_ws/src/champ_setup_assistant/scripts/setup_assistant.py", line 28, in
from python_qt_binding.QtGui import *
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/init.py", line 55, in
from .binding_helper import loadUi, QT_BINDING, QT_BINDING_MODULES, QT_BINDING_VERSION # @UnusedImport
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 276, in
getattr(sys, 'SELECT_QT_BINDING_ORDER', None),
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 120, in _select_qt_binding
(', '.join(["'%s'" % b for b in binding_order]), '\n'.join(error_msgs)))
ImportError: Could not find Qt binding (looked for: 'pyqt', 'pyside'):
ImportError for 'pyqt': No module named PyQt5.QtCore
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 153, in _load_pyqt
_named_import('PyQt5.%s' % module_name)
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
module = builtins.import(name)
ImportError: No module named PyQt5.QtCore

ImportError for 'pyside': No module named PySide2.QtCore
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 108, in _select_qt_binding
QT_BINDING_VERSION = binding_loader(required_modules, optional_modules)
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 185, in _load_pyside
_named_import('PySide2.%s' % module_name)
File "/opt/ros/noetic/lib/python3/dist-packages/python_qt_binding/binding_helper.py", line 133, in _named_import
module = builtins.import(name)
ImportError: No module named PySide2.QtCore

[champ_setup_assistant-2] process has died [pid 5162, exit code 1, cmd /home/siddarth/spot_ws/src/champ_setup_assistant/scripts/setup_assistant.py __name:=champ_setup_assistant __log:=/home/siddarth/.ros/log/1c413f5c-8813-11ec-9d50-9bc8d25ccedf/champ_setup_assistant-2.log].
log file: /home/siddarth/.ros/log/1c413f5c-8813-11ec-9d50-9bc8d25ccedf/champ_setup_assistant-2*.log
^C[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

The robot model that I am trying to use with the setup assistant but I keep encountering the following error:

My robot has an extra joint compared to the one showed in the example, besides having a hip, knee, and foot, it has an ankle. Could that be causing the error? Or does anyone know what could be causing it?

these are my gait configurations
knee_orientation : ">>"
pantograph_leg : false
odom_scaler: 1.0
max_linear_velocity_x : 0.5
max_linear_velocity_y : 0.25
max_angular_velocity_z : 1.0
com_x_translation : 0.0
swing_height : 0.012
stance_depth : 0.0
stance_duration : 0.25
nominal_height : 0.2

i need some urgent help on this

im using ubuntu 20.04, ros noetic, i made the necessary changes for the setup_assistant to work in noetic

#1 (comment)
I'm so sorry I didn't know the issue etiquette.

I tried to generate it with the URDF file of "https://github.com/ReactRobotics/DogBotV4/tree/master/ROS".
Then the following notice was displayed on the terminal.

[WARN] [1596091560.599070]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.599573]: base_joint's rpy are not defined. Setting these values ​​to zero
[WARN] [1596091560.600328]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.600689]: base_joint's rpy are not defined. Setting these values ​​to zero
[WARN] [1596091560.601352]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.601682]: base_joint's rpy are not defined. Setting these values ​​to zero
[WARN] [1596091560.602307]: base_joint's xyz are not defined. Setting these values ​​to zero
[WARN] [1596091560.602631]: base_joint's rpy are not defined.Setting these values ​​to zero

When I try the generated file with the command: "$ roslaunch bringup.launch rviz:=true", it looks like the picture.
Do you know how to fix the error?

I'm running champ_setup_assistant on Ros Melodic on Hyper-V on Windows 10.
Can someone pls. tell me why am I not able to see complete window of setup assistant.

I created the urdf model using the Fusion2URDF plugin in Fusion360.
I am also providing the repo link for the respective pkg
Below are the imgs from Gazebo and RVIZ

I'm running it on ros melodic. After loading URDF file the robot is not visible. I've tried it with URDF I've made and also with open-quadruped and ANYmal.
Also there is an error of robot state publisher when I launch setup_assistant.

Hi，
I followed guideline to generate the configuration file with ANYmal, but I can't visualize it in the rviz.
The result is like this：

And also I can't control it in the gazebo.

How can I fix this error? Thanks!

urdf of my robot is not loading in champ setup assistant window

hello, on ros NOETIC, i'm facing this issue 👍
[ERROR] [1654418331.360235595]: PluginlibFactory: The plugin for class 'champ/RobotState' failed to load. Error: According to the loaded plugin descriptions the class champ/RobotState with base class type rviz::Display does not exist. Declared types are rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped rviz_plugin_tutorials/Imu
Any idea ?

Which of the two pictures in the urdf household is it correspond to? If both are not applicable, can I force it to be vertical beyond the limit?

~/catkin_ws$ roslaunch champ_setup_assistant setup_assistant.launch
 
... logging to /home/user/.ros/log/e8c9ff6a-b90d-11ed-9fec-b5b3893dba3e/roslaunch-myPC.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://myPC:32999/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15

NODES
  /
    champ_setup_assistant (champ_setup_assistant/setup_assistant.py)

auto-starting new master
process[master]: started with pid [582802]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e8c9ff6a-b90d-11ed-9fec-b5b3893dba3e
process[rosout-1]: started with pid [582823]
started core service [/rosout]
process[champ_setup_assistant-2]: started with pid [582826]
Traceback (most recent call last):
  File "/home/user/catkin_ws/src/champ_setup_assistant/scripts/setup_assistant.py", line 79, in <module>
    sa = SetupAssistant()
  File "/home/user/catkin_ws/src/champ_setup_assistant/scripts/setup_assistant.py", line 54, in __init__
    self.robot_viz = RvizWidget(self)
  File "/home/user/catkin_ws/src/champ_setup_assistant/scripts/rviz_widget.py", line 57, in __init__
    self.frame = rviz.VisualizationFrame()
AttributeError: module 'rviz' has no attribute 'VisualizationFrame'

The fix is to replace
import rviz
with
from rviz import bindings as rviz

in the file
champ_setup_assistant/scripts/setup_assistant.py

Hello,

First of all, thank you for your work, this is good and well documented.
After I played around for a while with Champ and Spot, I tried to give it a try and generate the configuration for my own robot (popi).

I already have a URDF file, though it doesn't follow the assumptions you made (I created it following the modified Denavit-Hartemberg convention to fix my frames). It is still quite close, as you can see in the following screens :

The main difference I see is about the "zero" position, it was set with the legs fully bent. A friend of mines generated this URDF file using a solidworks to URDF exporter and defined the meshes origins and all the frames in the process. I am not really proficient with URDF, so I don't really know how I could change these settings directly in the URDF file. Is it even possible, or would I have to go through the exporter again to get a correct configuration ?

If you'd like to have a look at the URDF file, you can find it here

With regards,
Lucas

Hi after following the instructions. while running the setup assistant I am getting the below error can someone please tell me how to resolve this error. thank you

Hello.
Thank you for making a great tool.

Is there a rule in URDF that this tool can load?
The sample URDF, ANYMAL, loaded successfully.
However, I was not able to read the URDF of a completely different 3-axis robot arm.
The error message: "poll failed with error Interrupted system call" is displayed and the process ends.

Thank you.

Hello,
I'm trying to run champ_setup_assistant on Noetic but not able to get it started. Bellow is the file with my errors.
champ_error.txt
Thank You