NAO walking problem in Gazebo

[Amir-Ramezani]

Hi,

Thanks for your package.

I used your package to simulate NAO in Gazebo, however, there are some problems in my side, for example when NAO is waking or when it wants to sit, it falls. Please check the following video clip:

https://drive.google.com/file/d/0Bwsg0i6pm8bSMHBqT19RU3RoSDA/view?usp=sharing

And this is the output of my Gazebo: auto-starting new master process[master]: started with pid [4188] ROS_MASTER_URI=http://localhost:11311

setting /run_id to b011a398-ceb4-11e6-ad2c-208984233fa5 process[rosout-1]: started with pid [4201] started core service [/rosout] process[gazebo-2]: started with pid [4218] process[gazebo_gui-3]: started with pid [4222] process[spawn_urdf-4]: started with pid [4226] Gazebo multi-robot simulator, version 2.2.6 Copyright (C) 2012-2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.6 Copyright (C) 2012-2014 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

Msg Waiting for master.[ INFO] [1483118613.970170759]: Finished loading Gazebo ROS API Plugin. [ INFO] [1483118613.970737816]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... Msg Waiting for master Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 183.109.229.58

Msg Connected to gazebo master @ http://127.0.0.1:11345 Msg Publicized address: 183.109.229.58 Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov] Error [Param.cc:181] Unable to set value [0,100000001] for key[near] [spawn_urdf-4] process has finished cleanly log file: /home/learning/.ros/log/b011a398-ceb4-11e6-ad2c-208984233fa5/spawn_urdf-4*.log [E] 4355 posture: PostureLibrary::loadLibraryFromFile: cannot open file "" [W] 4399 qimessaging.transportsocket: connect: Connection refused [W] 4394 qimessaging.transportsocket: connect: Connection refused [W] 4395 qimessaging.transportsocket: connect: Connection refused [ INFO] [1483118618.438888228]: GazeboNaoqiControlPlugin loaded successfully! [W] 4393 halinterface: ALVideoDevice service unavailable:Cannot find service 'ALVideoDevice' in index [ INFO] [1483118709.125245965, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) Warning [RaySensor.cc:283] ranges not constructed yet (zero sized) [ INFO] [1483118709.164989683, 0.052000000]: Physics dynamic reconfigure ready.