Please any advice for this error when I running the gurby_mover.py script in the lesson 3 of the URDF course:
[ERROR] [1633627059.343481, 1746.491000]: The joint =head_upperlegM1_joint, hasnt reached yet =-1.55,difference=0.17971136653>0.1
[ERROR] [1633627059.343837, 1746.491000]: The joint =head_upperlegM2_joint, hasnt reached yet =-1.55,difference=0.179322548099>0.1
[ERROR] [1633627059.344066, 1746.491000]: The joint =head_upperlegM3_joint, hasnt reached yet =-1.55,difference=0.134285443419>0.1
[ERROR] [1633627059.344325, 1746.491000]: The joint =upperlegM1_lowerlegM1_joint, hasnt reached yet =-0.7,difference=1.52545954213>0.1
[ERROR] [1633627059.344599, 1746.491000]: The joint =upperlegM2_lowerlegM2_joint, hasnt reached yet =-1.55,difference=0.708594042121>0.1
[ERROR] [1633627059.344923, 1746.491000]: The joint =upperlegM3_lowerlegM3_joint, hasnt reached yet =-1.55,difference=0.829427800723>0.1
thanks for your help.
can you give a bit more to go here ?, from the error codes displayed here I can say this, for some reason gurdy joints are not moving to position given in the code and thats what the error codes are telling you, the joint are not reaching the position they are supposed to.
and the difference is giving you the variation in the position given by you and the actual joint position.
Im sorry but im not really able to pinpoint why this error is popping up, try to go sequentially by checking the following things.
- check whether you defined the urdf file properly.
- check the config.yaml file and see if things are defined as they are supposed.
- check your inertias and collisions in the urdf file.
- check if the messages are being published into the topics.
- check if the controllers are being loaded properly.
hope this helps.
Also take into account that gazebo joint publishers depending on how the robot is working has some error.
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