Error while using create_ik_reachability_map.py

[davizinho5]

Hello,
I'm trying to build a mixed reachabililty map for the Tiago dual robot.

First, I used create_fk_reachability_map.py to buitl the FK part. Then, I create the inverse transforms of the voxels.
However, when I want to use both to mix them with the IK reachabililty map, I get the next error coming from back se3.py:

File "~/sample_reachability_maps/scripts/create_ik_reachability_map.py", line 214, in
log_err_batch = se3_log_map(transf_des_to_curr, eps=0.005) # se3_log
raise ValueError("All elements of transform[:, :3, 3] should be 0.")

Do you know why this might happen?

Best,

[sjauhri]

Hi @davizinho5

I'm not exactly sure what you're trying to do. Why did you "create the inverse transforms of the voxels" ?

[davizinho5]

Hi @sjauhri , thanks for replaying so quickly.

According to line 82

I did this by using the invert_reachability_map.py script, but maybe my guess was wrong.

Best,

[sjauhri]

Hi @davizinho5,
I see what you're doing now. It seems correct to me. I don't know the cause of this error.
One possibility could be that the saved reach map has rows with all zeros. You could try filtering those out?

[davizinho5]

Hi @sjauhri,
Do you mean that I should invert the filtered version of the map computed with FK (setting the post_process flag to True)?

Because the filtered version fails too.

Best

[sjauhri]

Sorry for the late response, were you able to fix this @davizinho5 ? It seemed like the transformations had an issue or were transposed?

[CarbonIntelligence]

When I encounter the following error while executing a command, how should I resolve it? Thank you very much.

[sjauhri]

Hi @CarbonIntelligence, the image attachment in your message is missing

[CarbonIntelligence]

When I run the script, there are multiple errors reported in the URDF file.

[sjauhri]

Hi @CarbonIntelligence
This is not a problem. This is just the parser not recognising some urdf tags such as materials. This shouldn't cause any errors

[CarbonIntelligence]

@sjauhri I understand, thank you very much.

[davizinho5]

Hi @sjauhri, sorry I missed yor message, I just realized.

No, I could not fix the error I had, I tries to filter the map, but got the same error.
Since I did not understant where it came from, I moved to another approach because I was not sure on how to look for a fix.

Best

[CarbonIntelligence]

hello @sjauhri I'm sorry to trouble you again, but there is currently no robot model on the map. Could you please explain how the robot model is typically loaded? Thank you very much.

[sjauhri]

Hi @CarbonIntelligence
This depends on the robot and the robot ROS package that you are building the map for. For a Tiago robot, you can try to roslaunch from its description package i.e. this file: https://github.com/pal-robotics/tiago_dual_robot/blob/kinetic-devel/tiago_dual_description/robots/upload.launch

[CarbonIntelligence]

@sjauhri thank you

[liyuping0906]

Hello,@sjauhri. I apologize for disturbing you, but I have some questions I'd like to ask. Firstly, I have successfully loaded the map as shown below. I noticed that in the original code, the quaternion for all voxels was set to [0,0,0,1], but I want to display different orientations for each voxel within the map (indicated by arrows). So, I modified part of the code by adding a quaternion calculation program (following the rpy order, though I'm not sure if it's correct). However, when I run it, the result is like the purple arrows in the figure below. The problem is that I cannot set the size of the arrows when sending information through the reachability_map. After a while, the arrows automatically refresh into large and unsightly ones. I've reviewed some programs related to arrow visualization, but I haven't been able to identify the error. I would greatly appreciate it if you could offer me some help and advice. Thank you very much.

[sjauhri]

Hi @liyuping0906 . For the visualizer, I would look at the code of reuleux https://github.com/ros-industrial-consortium/reuleaux/tree/master/workspace_visualization/src . Its very old code but might have some hints on this.

[liyuping0906]

@sjauhri Thanks a lot.