Initializing sot_controller failed
ozgurgulsuna opened this issue · comments
I can launch talos succesfully with;
roslaunch talos_gazebo talos_gazebo.launch
When I launch;
roslaunch roscontrol_sot_talos sot_talos_controller.launch
I got the error;
Read Sot Vector State Param
[ERROR] [1659453749.384319922, 3.064000000]: Initializing controller 'sot_controller' failed
Dear @ozgurgulsuna thanks for your interest in our work.
It looks like you are not able to load the plugin corresponding to sot_controller.
Could you display the output of dpkg -l | grep robotpkg ?
ii robotpkg-dynamic-graph-v3 4.4.0r1 amd64 Efficient data-flow C++ library for robotics
ii robotpkg-example-robot-data 4.0.1 amd64 Robot URDFs for benchmarking and developed examples
ii robotpkg-hpp-fcl+doc 1.7.8 amd64 Humanoid Path Planner (collision detection and distance computations)
ii robotpkg-pinocchio 2.6.8 amd64 Efficient rigid body dynamics
ii robotpkg-py27-eigenpy 2.7.6 amd64 Eigen bindings to python
ii robotpkg-py27-hpp-fcl 1.8.1 amd64 Humanoid Path Planner (collision detection and distance computations (python bindingss))
ii robotpkg-py27-pinocchio 2.6.8 amd64 Efficient rigid body dynamics (python bindings)
ii robotpkg-sot-core-v3 4.11.6r1 amd64 Hierarchical task based control of humanoid robots
Thanks, could you confirm that you followed:
https://stack-of-tasks.github.io/sot-doc/doxygen/HEAD/tutorial_whole_body_motion.html
?
The tutorial is misleading. Indeed the line
sudo apt-get install robotpkg-talos-dev
should be done for both version.
(@nim65s could you confirm that it is also working on noetic ?)
I am working on ros melodic and cannot install robotpkg-talos-dev , it gives the following error,
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package robotpkg-talos-dev
Also I get the following error,
sudo apt install robotpkg-py27-talos-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package robotpkg-py27-talos-dev
Indeed according to http://robotpkg.openrobots.org/rbulk/robotpkg-wip/wip/py-talos-dev/index.html#py27-talos-dev-20201126 this should be working.
Let me check but I need a bit of time for that.
Dear @ozgurgulsuna ,
Building a fresh melodic install from the Dockerfile located here:
https://github.com/stack-of-tasks/sot-doc/blob/master/Dockerfile/Dockerfile.melodic
I was able to see the package robotpkg-py27-talos-dev but I cannot install it due to unavailable binaries.
It is probably an update of some submodules which has not been pushed and led to an incorrect situation in our build farm:
http://robotpkg.openrobots.org/rbulk/robotpkg-wip/wip/py-sot-core-v3/py27-sot-core-v3-4.11.7/Ubuntu-18.04-x86_64/bulk.html
@nim65s could you confirm ? If possible provide an update ? I do not understand why the documentation wants to be installed at the root level.
Unfortunately as many people are in summer break, fixing the issue make takes some time.
sudo apt update && sudo apt install robotpkg-py27-talos-dev should be fine now. Sorry for the delay. Please reopen if you get other errors.