Difference between revisions of "PR2"

From Healthcare Robotics Wiki
Jump to: navigation, search
Line 6: Line 6:
 
*[[PR2 Getting Started]]
 
*[[PR2 Getting Started]]
 
*[[HRL PR2 Setup]]
 
*[[HRL PR2 Setup]]
 
+
*[[PR2/ROS/HRL Related Issues]]
== Issues ==
+
=== Software ===
+
* We were unable to use the joystick to move the torso up (Advait, Jun 23 2010).
+
** If this happens again then we need to report it to Willow with appropriate diagnostic information.
+
*** Check the diagnostics to see the effort on the torso joint. If it is zero, the torso won't move.
+
*** List all controllers and make sure nothing else is commanding the torso. (Only the torso_controller)
+
*** Stop the torso_controller using pr2_controller_manager and run: "rosrun robot_mechanism_controllers effort.py torso_lift_joint"
+
*** Restart your robot (sudo robo start) and retry everything.
+
** Power cycling the entire robot fixed the problem for Advait.
+
 
+
=== Network ===
+
==== Communicating between the PR2 and other computers in the lab ====
+
* As of June 23, 2010 this should work without any modifications if your ROS_MASTER_URI is set to http://pr2c1.hsi.gatech.edu:11311
+
* If it does not then
+
** ping pr2c1 -- if this does not resolve to an IP try restarting network (''sudo /etc/init.d/networking restart'')
+
** if things don't work even after a network restart, talk to Advait.
+
 
+
[[HSI DHCP Bug]]
+
 
+
=== Hardware ===
+
* Any 20A extension cord (with the appropriate connector) will work with the PR2. e.g. [http://www.stayonline.com/detail.aspx?ID=10330 this]
+
  
 
== Reference ==
 
== Reference ==

Revision as of 19:00, 30 June 2010

Rules

  • Always have the wireless run-stop in hand before running the robot.
  • Follow all relevant

General Information

Reference

Troubleshooting

Support Materials