{"action":"created","issue":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/465","labels_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/465/labels{/name}","comments_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/465/comments","events_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/465/events","html_url":"https://github.com/jsk-ros-pkg/jsk_robot/issues/465","id":110427866,"number":465,"title":":go-pos method in pepper-interface.l does not work","user":{"login":"kochigami","id":7259671,"avatar_url":"https://avatars.githubusercontent.com/u/7259671?v=3","gravatar_id":"","url":"https://api.github.com/users/kochigami","html_url":"https://github.com/kochigami","followers_url":"https://api.github.com/users/kochigami/followers","following_url":"https://api.github.com/users/kochigami/following{/other_user}","gists_url":"https://api.github.com/users/kochigami/gists{/gist_id}","starred_url":"https://api.github.com/users/kochigami/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kochigami/subscriptions","organizations_url":"https://api.github.com/users/kochigami/orgs","repos_url":"https://api.github.com/users/kochigami/repos","events_url":"https://api.github.com/users/kochigami/events{/privacy}","received_events_url":"https://api.github.com/users/kochigami/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2015-10-08T11:22:36Z","updated_at":"2015-10-09T04:54:04Z","closed_at":null,"body":"```:go-pos``` publishes ```/cmd_pose``` topic, and ```:go-velocity``` publishes ```/cmd_vel``` topic.\r\nThe results of ```rostopic info /cmd_pose or /cmd_vel``` are as follows.\r\n\r\n```\r\nrostopic info /cmd_pose\r\nType: geometry_msgs/Pose2D\r\n\r\nPublishers: \r\n * /pepper_1444291883382908575 (http://133.11.216.136:54125/) (Note: This is from pepper-interface.l)\r\n\r\nSubscribers: None\r\n```\r\n\r\n```\r\nrostopic info /cmd_vel\r\nType: geometry_msgs/Twist\r\n\r\nPublishers: \r\n * /teleop_twist_joy (http://133.11.216.136:44116/)\r\n * /pepper_1444291883382908575 (http://133.11.216.136:54125/) (Note: This is from pepper-interface.l)\r\n\r\nSubscribers: \r\n * //pepper_robot (unknown address //pepper_robot)\r\n```\r\nI would like to know who is a subscriber of ```/cmd_pose```. (Tomorrow I will look into it by using previous pepper environment.)\r\nIn addition, ```//pepper_robot``` as a subscriber for ```/cmd_vel``` topic seems weird. I think it comes from previous ```pepper.launch```, but I don't know how to check it. If my guess is right, the process of ```/cmd_vel``` topic should also be modified. \r\n\r\nThe result of ```rosnode info //pepper_robot``` is as follows.\r\n```\r\nrosnode info //pepper_robot\r\n--------------------------------------------------------------------------------\r\nNode [//pepper_robot]\r\nPublications: \r\n * /pepper_robot/imu/base [sensor_msgs/Imu]\r\n * /pepper_robot/sonar/front [sensor_msgs/Range]\r\n * /pepper_robot/laser [sensor_msgs/LaserScan]\r\n * /pepper_robot/camera/ir/image_raw [sensor_msgs/Image]\r\n * /pepper_robot/camera/ir/camera_info [sensor_msgs/CameraInfo]\r\n * /pepper_robot/camera/depth/image_raw [sensor_msgs/Image]\r\n * /pepper_robot/camera/depth/camera_info [sensor_msgs/CameraInfo]\r\n * /pepper_robot/camera/bottom/camera_info [sensor_msgs/CameraInfo]\r\n * /pepper_robot/audio [naoqi_bridge_msgs/AudioBuffer]\r\n * /diagnostics [diagnostic_msgs/DiagnosticArray]\r\n * /joint_states [sensor_msgs/JointState]\r\n * /pepper_robot/camera/front/camera_info [sensor_msgs/CameraInfo]\r\n * /pepper_robot/sonar/back [sensor_msgs/Range]\r\n * /rosout [rosgraph_msgs/Log]\r\n * /pepper_robot/camera/bottom/image_raw [sensor_msgs/Image]\r\n * /tf [tf2_msgs/TFMessage]\r\n * /pepper_robot/camera/front/image_raw [sensor_msgs/Image]\r\n * /pepper_robot/imu/torso [sensor_msgs/Imu]\r\n * /pepper_robot/info [naoqi_bridge_msgs/StringStamped]\r\n\r\nSubscriptions: \r\n * /move_base_simple/goal [unknown type]\r\n * /joint_angles [unknown type]\r\n * /cmd_vel [geometry_msgs/Twist]\r\n\r\nServices: \r\n * /pepper_robot/get_loggers\r\n * /pepper_robot/set_logger_level\r\n * /naoqi_driver/get_robot_config\r\n\r\ncannot contact [//pepper_robot]: unknown node\r\n```\r\n"},"comment":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/comments/146755108","html_url":"https://github.com/jsk-ros-pkg/jsk_robot/issues/465#issuecomment-146755108","issue_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_robot/issues/465","id":146755108,"user":{"login":"kochigami","id":7259671,"avatar_url":"https://avatars.githubusercontent.com/u/7259671?v=3","gravatar_id":"","url":"https://api.github.com/users/kochigami","html_url":"https://github.com/kochigami","followers_url":"https://api.github.com/users/kochigami/followers","following_url":"https://api.github.com/users/kochigami/following{/other_user}","gists_url":"https://api.github.com/users/kochigami/gists{/gist_id}","starred_url":"https://api.github.com/users/kochigami/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kochigami/subscriptions","organizations_url":"https://api.github.com/users/kochigami/orgs","repos_url":"https://api.github.com/users/kochigami/repos","events_url":"https://api.github.com/users/kochigami/events{/privacy}","received_events_url":"https://api.github.com/users/kochigami/received_events","type":"User","site_admin":false},"created_at":"2015-10-09T04:54:04Z","updated_at":"2015-10-09T04:54:04Z","body":"The results of trying previous pepper ROS environment:\r\nlaunch ```wheel.launch``` in nao_apps in addition to ```jsk_pepper_startup.launch``` and ```peppereus```\r\n-> ```:go-pos``` ```go-velocity``` succeeded. \r\n-> The subscriber should be ```/nao_wheel``` for ```/cmd_vel``` and ```/cmd_pose``` topic.\r\n-> I have to learn where & how to add wheel.launch and how to delete a weird ```//pepper_robot``` node.\r\n\r\nAbout /pose_controller and /pose_manager:\r\nI compared all topics (publisher, subscriber, message type) by ```rostopic info ...```\r\n-> In previous and new ROS environment, the types of topics and message types are same. In addition, there are no topic which has unknown message type. (It was my misunderstanding.)\r\n -> In previous environment,  ```/joint_trajectory```, /joint_stiffness``` and ```/joint_angles``` are mainly used. \r\n-> New environment lacks subscriber for ```/joint_stiffness``` (it should be ```/naoqi_joint_states```).\r\n-> I have to learn which code has a subscriber of ```/naoqi_joint_states``` and the function of all nodes."}}