IBVS PointsBased not working in Gazebo

[aarontan-git]

Hello,

I am finally able to make and run the IBVS PointsBased package.

However, after selecting the blobs in a counter clock wise fashion starting with the lower left blob, the turtlebot does not seem to move closer to the target.

Its reactions thus far has been sudden jerk movement and sometimes slowly moving backwards.

I am wondering, did you guys solve this issue with your IBVS controller? Is this a problem with the gain value?

Please help.

PS.

In the readme file for IBVSpointsbased, you asked the users to enter the following to run the sim: rosrun IBVS_PointsBased IBVS_PointsBased_gazebo

however, to run the simulation in gazebo, you need to run the following instead: rosrun project_vs IBVS_PointsBased_gazebo

[PamirGhimire]

We did see jerky motion with the real robot, never in the simulation, this remained unresolved

On Thu, 8 Feb 2018 at 21:47, aarontan94 [email protected] wrote:

Hello,

I am finally able to make and run the IBVS PointsBased package.

However, after selecting the blobs in a counter clock wise fashion starting with the lower left blob, the turtlebot does not seem to move closer to the target.

Its reactions thus far has been sudden jerk movement and sometimes slowly moving backwards.

I am wondering, did you guys solve this issue with your IBVS controller? Is this a problem with the gain value?

Please help.

PS.

In the readme file for IBVSpointsbased, you asked the users to enter the following to run the sim: rosrun IBVS_PointsBased IBVS_PointsBased_gazebo

however, to run the simulation in gazebo, you need to run the following instead: rosrun project_vs IBVS_PointsBased_gazebo

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[PamirGhimire]

This was less frequent than the controller actually working

On Thu, 8 Feb 2018 at 21:51, Pamir Ghimire [email protected] wrote:

We did see jerky motion with the real robot, never in the simulation, this remained unresolved

On Thu, 8 Feb 2018 at 21:47, aarontan94 [email protected] wrote:

Hello,

I am finally able to make and run the IBVS PointsBased package.

However, after selecting the blobs in a counter clock wise fashion starting with the lower left blob, the turtlebot does not seem to move closer to the target.

Its reactions thus far has been sudden jerk movement and sometimes slowly moving backwards.

I am wondering, did you guys solve this issue with your IBVS controller? Is this a problem with the gain value?

Please help.

PS.

In the readme file for IBVSpointsbased, you asked the users to enter the following to run the sim: rosrun IBVS_PointsBased IBVS_PointsBased_gazebo

however, to run the simulation in gazebo, you need to run the following instead: rosrun project_vs IBVS_PointsBased_gazebo

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/PamirGhimire/visualServoing_ROSProject/issues/3, or mute the thread https://github.com/notifications/unsubscribe-auth/ALcGIYVsayc-FhmHzmpnyf32Pl-S5rowks5tS11YgaJpZM4R_AC9 .

[aarontan-git]

This is the problem that I am facing, have you seen something like this before?

https://youtu.be/tYc_KH50I_Y

[PamirGhimire]

right, i remember i had to check the polarity for each velocity dof separately, they were different for the real and virtual bots,i suggest you do that as well,` also, when running this on the real bot, make sure that you're subscribed to mono_image, not rgb as in gazebo

On Thu, Feb 8, 2018 at 11:13 PM, aarontan94 [email protected] wrote:

This is the problem that I am facing, have you seen something like this before?

https://youtu.be/tYc_KH50I_Y

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[Abduoit]

@PamirGhimire what do u mean by checking the polarity, how to do this ?

there is no image_mono topic in gazebo, there is only topic /camera/rgb/image_raw

[PamirGhimire]

when working with the real robot, you might find image_mono as well, by 'checking polarity', for example for rotation around the z-axis, make all but v[z-axis-rot-vel-indx] zeros, try +/- rotation-vel values for this dof, see which one produces the expected behavior (for example: v[5] = 0.3 or -0.3 makes it rotate clockwise, same for front-back)

On Fri, Feb 9, 2018 at 4:02 PM, Abduoit [email protected] wrote:

@PamirGhimire https://github.com/pamirghimire what do u mean by checking the polarity, how to do this ?

there is no image_mono topic in gazebo, there is only topic /camera/rgb/image_raw

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