How to use

[AndreaRoberti]

Hi,
i'm tryng to use your packages, and when i launch for example psm_gazebo.launch i've this warning:

[Dbg] [Link.cc:1539] we have a loop! cannot find nice subset of connected links, this link PSM::pitch_front_Link connects back to parent PSM::yaw_Link.

and this error:

PID controller for dvrk_psm/PSM/pitch_back_joint could not be initialized. Check if the parameters have been loaded properly on the ROS parameter server

To resolve the error I tried to force the parameters by setting the values that i've found in dvrk_new.yaml file, inside dvrk_gazebo_control/config folder, but the behaviour is strange...

Am I missing something?

Thanks,
Andrea

[gfisch44]

Hi Andrea I believe Adnan (cc’ed) would be the best person to help, but he is traveling now so may not be readily available right away. Can you provide a bit more about what group you are with and what you are working on? Thanks! Gregory S. Fischer, Ph.D. William Smith Dean’s Professor Mechanical Engineering & Robotics Engineering Director, PracticePoint@WPI Worcester Polytechnic Institute Office Phone: (508)831-5261 http://aimlab.wpi.edu/people/Gregory_Fischer From: AndreaRoberti <notifications@github.com> Reply-To: WPI-AIM/dvrk_env <reply@reply.github.com> Date: Monday, July 23, 2018 at 10:56 AM To: WPI-AIM/dvrk_env <dvrk_env@noreply.github.com> Cc: Subscribed <subscribed@noreply.github.com> Subject: [WPI-AIM/dvrk_env] How to use (#3) Hi, i'm tryng to use your packages, and when i launch for example psm_gazebo.launch i've this warning: [Dbg] [Link.cc:1539] we have a loop! cannot find nice subset of connected links, this link PSM::pitch_front_Link connects back to parent PSM::yaw_Link. and this error: PID controller for dvrk_psm/PSM/pitch_back_joint could not be initialized. Check if the parameters have been loaded properly on the ROS parameter server To resolve the error I tried to force the parameters by setting the values that i've found in dvrk_new.yaml file, inside dvrk_gazebo_control/config folder, but the behaviour is strange... Am I missing something? Thanks, Andrea — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<#3>, or mute the thread<https://github.com/notifications/unsubscribe-auth/AHrd6_kdm76Rprc8JCkqcbVcsqWhk5uZks5uJeQ2gaJpZM4VbJhD>.

[radiang]

Hello Andrea,
Your problem is because the namespace of the .yaml file should be dvrk_psm. We've added a config file dvrk_psm.yaml to work with psm_gazebo.launch. We have also updated the psm model as there was an issue with the gazebo so please add the dvrk and PSM folders into the .gazebo folder again.

Radian