Differences

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--- software:cram:tutorials:pick-and-place-primer [2013/03/28 09:46] – winkler
+++ software:cram:tutorials:pick-and-place-primer [2016/05/19 09:19] (current) – external edit 127.0.0.1
@@ Line 11: / Line 11: @@
 ==== Prerequisites ====
-It is assumed that you successfully completed the [[software:cram:setup|installation of the CRAM system]] before starting this lesson.
+It is assumed that you successfully completed the [[software:cram:setup:auto-install|installation of the CRAM system]] before starting this lesson.
 ==== Getting the Code ====
@@ Line 71: / Line 71: @@
 This will start Gazebo, spawn a PR2 robot and a table with two mugs on it.
 {{ :software:cram:tutorials:gazebo_lesson01_spawn.png?800 |}}
-The PR2 and the mugs are dynamic objects while the table is fixed to the ground, i.e. you can't move it.
+The PR2 and the mugs are dynamic objects while the table is fixed to the ground, i.e. you can't move it. (If you encounter problems with parts of the simulation not showing up correctly, see [[pick-and-place-primer# Pitfalls and known issues |here]].)
 In yet another terminal, open rviz:
 <code bash>
@@ Line 188: / Line 189: @@
 </code>
-Either function relies on whether the robot stands at a position from where it probably can see or reach the location on the table. A location costmap is generated(move-away-arms) for locations to stand at and a random weighted sample is drawn from this probability distribution:
+Either function relies on whether the robot stands at a position from where it probably can see or reach the location on the table. A location costmap is generated for locations to stand at and a random weighted sample is drawn from this probability distribution:
 {{ :software:cram:tutorials:location_costmap_drive.png?400 |}}
@@ Line 249: / Line 250: @@
 For putting down the object, the same techniques with respect to location costmaps are used as in the pick-up part of this tutorial.
+==== Pitfalls and known issues ====
+In case the table doesn't show up completely when starting the lesson launchfile (and, Gazebo in particular), you have to restart the Gazebo client GUI. The problem will show you a scene similar to this one:
+{{ :software:cram:tutorials:issue_pr2_table_nospawn.png?300 |}}
+Just close the Gazebo window and restart the client, using:
+<code bash>
+$ `rospack find gazebo`/gazebo/bin/gzclient -g `rospack find gazebo`/lib/libgazebo_ros_paths_plugin.so
+</code>
+The (simulated) table is physically there, but the visual is missing. The simulation could go on without it, but for the scenery's sake, you can get it back into the scene with this fix.
+ --- //[[|Winkler, Jan]] 2013/03/28 11:10//