Using qiBullet with ROS: odometry broadcasting problems

[ysys98]

#76
Still this problem, I found that it should be the problem of parameter of _ broadcastodometry (self, odometry_publisher), so I passed odom_pub into parameter to Is wrong?

And I changed odometry_ publisher file changed from .CPP to .Py file

And then when I run
It shows the error log:

"odom_pub" is not defined

[mbusy]

I don't really understand what you're trying to do here, but as specified in the comments of the method, _broadcastOdometry is an internal method and shouldn't be used in a script. The method is defined in the RosWrapper class, and the ROS wrapper for each robot (PepperRosWrapper etc) inherit from that class. You don't need to call the _broadcastOdometry method manually, it's done automatically when you launch the wrapper.

Here's a quick example:

if __name__ == "__main__":
    simulation_manager = SimulationManager()
    wrap = PepperRosWrapper()
    camera_id = PepperVirtual.ID_CAMERA_BOTTOM
    pepper = simulation_manager.spawnPepper(client, spawn_ground_plane=True)

    wrap.launchWrapper(pepper, "/naoqi_driver")

    handle = pepper.subscribeCamera(camera_id)

    try:
        rospy.spin()

    except KeyboardInterrupt:
        pass
    except rospy.ROSInterruptException:
        pass
    finally:
        wrap.stopWrapper()
        simulation_manager.stopSimulation(client)

The launchWrapper is all you need, the odometry will be broadcasted

[mbusy]

I'm going to move this issue into the discussions and widen the scope of the issue a bit, since I think the issue has more to do with the joint usage of ROS with qiBullet. If a specific issue with the simulation arises, we'll create a more specific issue

[ysys98]

Thanks for the info. Alright, you don't need to launch the state publishers from your launchfile, normally the ROS wrapper also takes care of that. The only requirement of the ROS wrapper is that a roscore already exists when launchWrapper is called from Python. You can try to remove the joint_state_publisher and robot_state_publisher from your launchfile.

But I'm not sure that this is the root of the problem though

@mbusy Thank you for your reply. I know I must start roscore first every time. I have deleted the joint_state_publisher and robot_state_publisher from launchfile. But it still can't show odom at RVIZ Fixed Frame

Every time I run, it will appear such an log：
NODES

ROS_MASTER_URI=http://localhost:11311
process[robot_state_publisher_roskinetic_VirtualBox_2378_6291095413713276270-1]: started with pid [2582]
Stopping the ROS wrapper: function takes at most 2 arguments (3 given)

Could it be the problem here？

[mbusy]

Could it be the problem here？

The problem is definitely there, but first I wanted to make sure that nothing was interfering with the information published by the wrapper. Now it should be the case, an now in RViz we don't have any states received (as you can see the meshes of the robot are all merged together, the frames are not correctly placed). That is quite weird, I can't reproduce your problem on my side...

Stopping the ROS wrapper: function takes at most 2 arguments (3 given)

I'm going to redo the tests using kinetic instead of melodic, but theoretically it shouldn't make much of a difference

[ysys98]

@mbusy Thank you for your patience in answering my questions
Is there a possible pybullet module problem? When I first got your reply 10 days ago, I found that my import pybullet was not prompted in vscode. If vscode can find this module, it will display green, but at that time, the pybullet was white. I installed it using pip, so I uninstalled it and found this problem in the pybullet of GitHub, at bulletphysics/bullet3#4071
and then I installed it using this method, Then vscode shows that the import pybullet is green instead of white, but when I open ros_wrapper.py
here is a line： [vx, vy, vz], [wx, wy, wz] = pybullet.getBaseVelocity(
Vscode also shows that it was not found getBaseVelocity，
getBaseVelocity is white. When you click it, there is no prompt. I found that other pybullet methods, vscode show them are also white without any prompt，
this is a little strange. Qibullet methods or functions will display some prompts in vscode, and they are not white. Is it my pybullet download error？

[ysys98]

@mbusy By the way, when I first used qibullet ten days ago, I used the example in the official tutorial robot_ ros_ test. py
The first time I ran it, he appeared in such a log:
Stopping the ROS wrapper: function takes at most 2 arguments (3 given)

My reply above may not be clear. I intercepted some pictures, which may be more intuitive

Vscode is not found pybullet‘s method , but it doesn't affect the operation of the program, does it?
Or did I not downloaded pybullet correctly ？
I don't know if this is the reason why I made a mistake. If not, please forgive me

[mbusy]

Your comments are clear don't worry 😉 I found the source of the problem, it's linked to a recent update of pybullet, that broke the compatibility in getBaseVelocity. The method still exists, but different parameters are expected, it's an easy fix though! removing the line 207 of ros_wrapper.py should do the trick. I'll correct that, test it and publish an updated qibullet package

[mbusy]

Alright @ysys98, the hotfix/ros_odometry branch should take care of the problem. Could you try to uninstall qibullet and reinstall it from source using this branch? (the wiki should help you with that, checkout the hotfix/ros_odometry branch after cloning the repo, and before installing) It works for me, if it works for you I'll package an official release

[ysys98]

@mbusy Which one should I use? https://github.com/asherikov/oru_walk_module or https://github.com/mrsp/nao_walk?

[mbusy]

I didn't use any of them, so I wouldn't know which one is better. Also, both seem to rely on the naoqi to work (most probably to read joint angles and sensor values, and control joints), so some tweaking would be required to interface them with qiBullet.

[ysys98]

@mbusy Thank you very much！I will learn it first. The ultimate goal is to try to use him in a real Nao robot. Anyway, I should try to learn this controller first

[mbusy]

Sure. The 1.4.5 version has been uploaded, fixing the original odom broadcasting bug

[ysys98]

@mbusy
Thanks! Thanks for your help!