fix :move-to for non-holonomic robot

[knorth55]

fix :move-to for non-holonomic robot
this fixes jsk-ros-pkg/jsk_robot#1156 (comment)

[knorth55]

cc. @708yamaguchi

[k-okada]

can we use :go-pos-unsafe instead of :go-velocity ? if this works, then it chance to remove this line and use go-pos-unsafe for both holonoic and non-holonomic robot.

[knorth55]

we can use :go-pos-unsafe for pr2 robot.
but for fetch, we need to tune :rotation-gain in :go-pos-unsafe
that is because of friction between wheel and the ground.
for rotating 45 degree, it is better to set :rotation-gain 2.0 for better motion.
however it depends on rotation angle and hardware situation.

Reference:
https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323

[knorth55]

by the way, we checked gas spring of fetch yesterday with @708yamaguchi and @HiroIshida, and we need to replace it.

[k-okada]

You can tune parameter on the good condition (at the corridor), if your robot always working within the room 72b3, that is a bad sign. Robot with out safety cable should goes to out of the room. 2019年10月25日(金) 15:46 Shingo Kitagawa <[email protected]>:

***@***.**** commented on this pull request. ------------------------------ In pr2eus/robot-interface.l <#405 (comment)> : > @@ -1424,6 +1427,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i ;; (dotimes (i 2) (if (< (setq diff-len (norm (subseq (send diff :worldpos) 0 2))) 200) ;; move_base thre = 200mm + (if holonomic we can use :go-pos-unsafe for pr2 robot. but for fetch, we need to tune :rotation-gain in :go-pos-unsafe that is because of friction between wheel and the ground. for rotating 45 degree, it is better to set :rotation-gain 2.0 for better motion. however it depends on rotation angle and hardware situation. Reference: https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323 — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#405?email_source=notifications&email_token=AADYNXEMQPDTQQB2OE4FUSDQQKI5TA5CNFSM4JEKF7S2YY3PNVWWK3TUL52HS4DFWFIHK3DMKJSXC5LFON2FEZLWNFSXPKTDN5WW2ZLOORPWSZGOCJGJLFA#discussion_r338906743>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXGR6Q6SPTUX4BGD34DQQKI5TANCNFSM4JEKF7SQ> .

-- -- ◉ Kei Okada

[knorth55]

but in that case, fetch cannot move in 73b2... 2019年10月25日(金) 19:27 Kei Okada <[email protected]>:

You can tune parameter on the good condition (at the corridor), if your robot always working within the room 72b3, that is a bad sign. Robot with out safety cable should goes to out of the room. 2019年10月25日(金) 15:46 Shingo Kitagawa ***@***.***>: > ***@***.**** commented on this pull request. > ------------------------------ > > In pr2eus/robot-interface.l > < #405 (comment)> > : > > > @@ -1424,6 +1427,7 @@ Return value is a list of interpolatingp for all controllers, so (null (some #'i > ;; > (dotimes (i 2) > (if (< (setq diff-len (norm (subseq (send diff :worldpos) 0 2))) 200) ;; move_base thre = 200mm > + (if holonomic > > we can use :go-pos-unsafe for pr2 robot. > but for fetch, we need to tune :rotation-gain in :go-pos-unsafe > that is because of friction between wheel and the ground. > for rotating 45 degree, it is better to set :rotation-gain 2.0 for better > motion. > however it depends on rotation angle and hardware situation. > > Reference: > > https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323 > > — > You are receiving this because you commented. > > > Reply to this email directly, view it on GitHub > < #405?email_source=notifications&email_token=AADYNXEMQPDTQQB2OE4FUSDQQKI5TA5CNFSM4JEKF7S2YY3PNVWWK3TUL52HS4DFWFIHK3DMKJSXC5LFON2FEZLWNFSXPKTDN5WW2ZLOORPWSZGOCJGJLFA#discussion_r338906743 >, > or unsubscribe > < https://github.com/notifications/unsubscribe-auth/AADYNXGR6Q6SPTUX4BGD34DQQKI5TANCNFSM4JEKF7SQ > > . > -- -- ◉ Kei Okada — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#405?email_source=notifications&email_token=ACG6QX6PCEIYMM4J52L7PQDQQLC2LA5CNFSM4JEKF7S2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOECH5WXA#issuecomment-546298716>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACG6QX7KIFK5KBJ4SCMHNYLQQLC2LANCNFSM4JEKF7SQ> .

-- -- Shingo Kitagawa the University of Tokyo, JSK Lab [email protected]

[k-okada]

:go-pos-unsafe uses sensory feedback so it should work well in any situation And currently, we only use this method within :move-to, so our goal is just to improve the result . If :go-pos-unsafe did not reduce the quality of the goal location, we should consider it is a good result. 2019年10月25日(金) 22:09 Shingo Kitagawa <[email protected]>:

but in that case, fetch cannot move in 73b2... 2019年10月25日(金) 19:27 Kei Okada ***@***.***>: > You can tune parameter on the good condition (at the corridor), if your > robot always working within the room 72b3, that is a bad sign. Robot with > out safety cable should goes to out of the room. > > 2019年10月25日(金) 15:46 Shingo Kitagawa ***@***.***>: > > > ***@***.**** commented on this pull request. > > ------------------------------ > > > > In pr2eus/robot-interface.l > > < > #405 (comment) > > > : > > > > > @@ -1424,6 +1427,7 @@ Return value is a list of interpolatingp for all > controllers, so (null (some #'i > > ;; > > (dotimes (i 2) > > (if (< (setq diff-len (norm (subseq (send diff :worldpos) 0 2))) 200) ;; > move_base thre = 200mm > > + (if holonomic > > > > we can use :go-pos-unsafe for pr2 robot. > > but for fetch, we need to tune :rotation-gain in :go-pos-unsafe > > that is because of friction between wheel and the ground. > > for rotating 45 degree, it is better to set :rotation-gain 2.0 for better > > motion. > > however it depends on rotation angle and hardware situation. > > > > Reference: > > > > > https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/fetch-interface.l#L241-L323 > > > > — > > You are receiving this because you commented. > > > > > > Reply to this email directly, view it on GitHub > > < > #405?email_source=notifications&email_token=AADYNXEMQPDTQQB2OE4FUSDQQKI5TA5CNFSM4JEKF7S2YY3PNVWWK3TUL52HS4DFWFIHK3DMKJSXC5LFON2FEZLWNFSXPKTDN5WW2ZLOORPWSZGOCJGJLFA#discussion_r338906743 > >, > > or unsubscribe > > < > https://github.com/notifications/unsubscribe-auth/AADYNXGR6Q6SPTUX4BGD34DQQKI5TANCNFSM4JEKF7SQ > > > > . > > > -- > -- > ◉ Kei Okada > > — > You are receiving this because you authored the thread. > Reply to this email directly, view it on GitHub > < #405?email_source=notifications&email_token=ACG6QX6PCEIYMM4J52L7PQDQQLC2LA5CNFSM4JEKF7S2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOECH5WXA#issuecomment-546298716 >, > or unsubscribe > < https://github.com/notifications/unsubscribe-auth/ACG6QX7KIFK5KBJ4SCMHNYLQQLC2LANCNFSM4JEKF7SQ > > . > -- -- Shingo Kitagawa the University of Tokyo, JSK Lab ***@***.*** — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#405?email_source=notifications&email_token=AADYNXF2ZVD3CM6L25ZIT4TQQLVXLA5CNFSM4JEKF7S2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOECIJPPQ#issuecomment-546346942>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADYNXC3ATN3YKNSJSO6EZTQQLVXLANCNFSM4JEKF7SQ> .

-- -- ◉ Kei Okada

[knorth55]

@k-okada OK. I made :go-pos-unsafe version #406.
now I'm testing on Fetch.

[knorth55]

move to #406