Issue about the control of torso in joylo teleoperation

[Goat-L]

Thanks for your great work!

We are trying to control the torso and chasis of R1 with JoyLo. We find that the arms are controlled successfully, but, the torso and chasis are not moving. The torso cmd and chasis cmd in real_joylo.py are correct, and we find the topics are launched. Is there angthing we might missing?

Moerover, is there any instructions to control torso and chasis?

Here are the published topics:
/HDAS
/clicked_point
/controller
/diagnostics
/hdas/bms
/hdas/camera_chassis_front_left/rgb/compressed
/hdas/camera_chassis_front_right/rgb/compressed
/hdas/camera_chassis_left/rgb/compressed
/hdas/camera_chassis_rear/rgb/compressed
/hdas/camera_chassis_right/rgb/compressed
/hdas/camera_head/atm_press
/hdas/camera_head/confidence/confidence_map
/hdas/camera_head/depth/camera_info
/hdas/camera_head/depth/depth_registered
/hdas/camera_head/depth/depth_registered/compressed
/hdas/camera_head/depth/depth_registered/compressed/parameter_descriptions
/hdas/camera_head/depth/depth_registered/compressed/parameter_updates
/hdas/camera_head/depth/depth_registered/compressedDepth
/hdas/camera_head/depth/depth_registered/compressedDepth/parameter_descriptions
/hdas/camera_head/depth/depth_registered/compressedDepth/parameter_updates
/hdas/camera_head/depth/depth_registered/theora
/hdas/camera_head/depth/depth_registered/theora/parameter_descriptions
/hdas/camera_head/depth/depth_registered/theora/parameter_updates
/hdas/camera_head/disparity/disparity_image
/hdas/camera_head/imu/data
/hdas/camera_head/imu/data_raw
/hdas/camera_head/imu/mag
/hdas/camera_head/left/camera_info
/hdas/camera_head/left/image_rect_color
/hdas/camera_head/left/image_rect_color/compressed
/hdas/camera_head/left/image_rect_color/compressed/parameter_descriptions
/hdas/camera_head/left/image_rect_color/compressed/parameter_updates
/hdas/camera_head/left/image_rect_color/compressedDepth
/hdas/camera_head/left/image_rect_color/compressedDepth/parameter_descriptions
/hdas/camera_head/left/image_rect_color/compressedDepth/parameter_updates
/hdas/camera_head/left/image_rect_color/theora
/hdas/camera_head/left/image_rect_color/theora/parameter_descriptions
/hdas/camera_head/left/image_rect_color/theora/parameter_updates
/hdas/camera_head/left/image_rect_gray
/hdas/camera_head/left/image_rect_gray/compressed
/hdas/camera_head/left/image_rect_gray/compressed/parameter_descriptions
/hdas/camera_head/left/image_rect_gray/compressed/parameter_updates
/hdas/camera_head/left/image_rect_gray/compressedDepth
/hdas/camera_head/left/image_rect_gray/compressedDepth/parameter_descriptions
/hdas/camera_head/left/image_rect_gray/compressedDepth/parameter_updates
/hdas/camera_head/left/image_rect_gray/theora
/hdas/camera_head/left/image_rect_gray/theora/parameter_descriptions
/hdas/camera_head/left/image_rect_gray/theora/parameter_updates
/hdas/camera_head/left_cam_imu_transform
/hdas/camera_head/left_raw/camera_info
/hdas/camera_head/left_raw/image_raw_color
/hdas/camera_head/left_raw/image_raw_color/compressed
/hdas/camera_head/left_raw/image_raw_color/compressed/parameter_descriptions
/hdas/camera_head/left_raw/image_raw_color/compressed/parameter_updates
/hdas/camera_head/left_raw/image_raw_color/compressedDepth
/hdas/camera_head/left_raw/image_raw_color/compressedDepth/parameter_descriptions
/hdas/camera_head/left_raw/image_raw_color/compressedDepth/parameter_updates
/hdas/camera_head/left_raw/image_raw_color/theora
/hdas/camera_head/left_raw/image_raw_color/theora/parameter_descriptions
/hdas/camera_head/left_raw/image_raw_color/theora/parameter_updates
/hdas/camera_head/left_raw/image_raw_gray
/hdas/camera_head/left_raw/image_raw_gray/compressed
/hdas/camera_head/left_raw/image_raw_gray/compressed/parameter_descriptions
/hdas/camera_head/left_raw/image_raw_gray/compressed/parameter_updates
/hdas/camera_head/left_raw/image_raw_gray/compressedDepth
/hdas/camera_head/left_raw/image_raw_gray/compressedDepth/parameter_descriptions
/hdas/camera_head/left_raw/image_raw_gray/compressedDepth/parameter_updates
/hdas/camera_head/left_raw/image_raw_gray/theora
/hdas/camera_head/left_raw/image_raw_gray/theora/parameter_descriptions
/hdas/camera_head/left_raw/image_raw_gray/theora/parameter_updates
/hdas/camera_head/odom
/hdas/camera_head/odom/status
/hdas/camera_head/parameter_descriptions
/hdas/camera_head/parameter_updates
/hdas/camera_head/path_map
/hdas/camera_head/path_odom
/hdas/camera_head/plane
/hdas/camera_head/plane_marker
/hdas/camera_head/point_cloud/cloud_registered
/hdas/camera_head/pose
/hdas/camera_head/pose/status
/hdas/camera_head/pose_with_covariance
/hdas/camera_head/rgb/camera_info
/hdas/camera_head/rgb/image_rect_color
/hdas/camera_head/rgb/image_rect_color/compressed
/hdas/camera_head/rgb/image_rect_color/compressed/parameter_descriptions
/hdas/camera_head/rgb/image_rect_color/compressed/parameter_updates
/hdas/camera_head/rgb/image_rect_color/compressedDepth
/hdas/camera_head/rgb/image_rect_color/compressedDepth/parameter_descriptions
/hdas/camera_head/rgb/image_rect_color/compressedDepth/parameter_updates
/hdas/camera_head/rgb/image_rect_color/theora
/hdas/camera_head/rgb/image_rect_color/theora/parameter_descriptions
/hdas/camera_head/rgb/image_rect_color/theora/parameter_updates
/hdas/camera_head/rgb/image_rect_gray
/hdas/camera_head/rgb/image_rect_gray/compressed
/hdas/camera_head/rgb/image_rect_gray/compressed/parameter_descriptions
/hdas/camera_head/rgb/image_rect_gray/compressed/parameter_updates
/hdas/camera_head/rgb/image_rect_gray/compressedDepth
/hdas/camera_head/rgb/image_rect_gray/compressedDepth/parameter_descriptions
/hdas/camera_head/rgb/image_rect_gray/compressedDepth/parameter_updates
/hdas/camera_head/rgb/image_rect_gray/theora
/hdas/camera_head/rgb/image_rect_gray/theora/parameter_descriptions
/hdas/camera_head/rgb/image_rect_gray/theora/parameter_updates
/hdas/camera_head/rgb_raw/camera_info
/hdas/camera_head/rgb_raw/image_raw_color
/hdas/camera_head/rgb_raw/image_raw_color/compressed
/hdas/camera_head/rgb_raw/image_raw_color/compressed/parameter_descriptions
/hdas/camera_head/rgb_raw/image_raw_color/compressed/parameter_updates
/hdas/camera_head/rgb_raw/image_raw_color/compressedDepth
/hdas/camera_head/rgb_raw/image_raw_color/compressedDepth/parameter_descriptions
/hdas/camera_head/rgb_raw/image_raw_color/compressedDepth/parameter_updates
/hdas/camera_head/rgb_raw/image_raw_color/theora
/hdas/camera_head/rgb_raw/image_raw_color/theora/parameter_descriptions
/hdas/camera_head/rgb_raw/image_raw_color/theora/parameter_updates
/hdas/camera_head/rgb_raw/image_raw_gray
/hdas/camera_head/rgb_raw/image_raw_gray/compressed
/hdas/camera_head/rgb_raw/image_raw_gray/compressed/parameter_descriptions
/hdas/camera_head/rgb_raw/image_raw_gray/compressed/parameter_updates
/hdas/camera_head/rgb_raw/image_raw_gray/compressedDepth
/hdas/camera_head/rgb_raw/image_raw_gray/compressedDepth/parameter_descriptions
/hdas/camera_head/rgb_raw/image_raw_gray/compressedDepth/parameter_updates
/hdas/camera_head/rgb_raw/image_raw_gray/theora
/hdas/camera_head/rgb_raw/image_raw_gray/theora/parameter_descriptions
/hdas/camera_head/rgb_raw/image_raw_gray/theora/parameter_updates
/hdas/camera_head/right/camera_info
/hdas/camera_head/right/image_rect_color
/hdas/camera_head/right/image_rect_color/compressed
/hdas/camera_head/right/image_rect_color/compressed/parameter_descriptions
/hdas/camera_head/right/image_rect_color/compressed/parameter_updates
/hdas/camera_head/right/image_rect_color/compressedDepth
/hdas/camera_head/right/image_rect_color/compressedDepth/parameter_descriptions
/hdas/camera_head/right/image_rect_color/compressedDepth/parameter_updates
/hdas/camera_head/right/image_rect_color/theora
/hdas/camera_head/right/image_rect_color/theora/parameter_descriptions
/hdas/camera_head/right/image_rect_color/theora/parameter_updates
/hdas/camera_head/right/image_rect_gray
/hdas/camera_head/right/image_rect_gray/compressed
/hdas/camera_head/right/image_rect_gray/compressed/parameter_descriptions
/hdas/camera_head/right/image_rect_gray/compressed/parameter_updates
/hdas/camera_head/right/image_rect_gray/compressedDepth
/hdas/camera_head/right/image_rect_gray/compressedDepth/parameter_descriptions
/hdas/camera_head/right/image_rect_gray/compressedDepth/parameter_updates
/hdas/camera_head/right/image_rect_gray/theora
/hdas/camera_head/right/image_rect_gray/theora/parameter_descriptions
/hdas/camera_head/right/image_rect_gray/theora/parameter_updates
/hdas/camera_head/right_raw/camera_info
/hdas/camera_head/right_raw/image_raw_color
/hdas/camera_head/right_raw/image_raw_color/compressed
/hdas/camera_head/right_raw/image_raw_color/compressed/parameter_descriptions
/hdas/camera_head/right_raw/image_raw_color/compressed/parameter_updates
/hdas/camera_head/right_raw/image_raw_color/compressedDepth
/hdas/camera_head/right_raw/image_raw_color/compressedDepth/parameter_descriptions
/hdas/camera_head/right_raw/image_raw_color/compressedDepth/parameter_updates
/hdas/camera_head/right_raw/image_raw_color/theora
/hdas/camera_head/right_raw/image_raw_color/theora/parameter_descriptions
/hdas/camera_head/right_raw/image_raw_color/theora/parameter_updates
/hdas/camera_head/right_raw/image_raw_gray
/hdas/camera_head/right_raw/image_raw_gray/compressed
/hdas/camera_head/right_raw/image_raw_gray/compressed/parameter_descriptions
/hdas/camera_head/right_raw/image_raw_gray/compressed/parameter_updates
/hdas/camera_head/right_raw/image_raw_gray/compressedDepth
/hdas/camera_head/right_raw/image_raw_gray/compressedDepth/parameter_descriptions
/hdas/camera_head/right_raw/image_raw_gray/compressedDepth/parameter_updates
/hdas/camera_head/right_raw/image_raw_gray/theora
/hdas/camera_head/right_raw/image_raw_gray/theora/parameter_descriptions
/hdas/camera_head/right_raw/image_raw_gray/theora/parameter_updates
/hdas/camera_head/stereo/image_rect_color
/hdas/camera_head/stereo/image_rect_color/compressed
/hdas/camera_head/stereo/image_rect_color/compressed/parameter_descriptions
/hdas/camera_head/stereo/image_rect_color/compressed/parameter_updates
/hdas/camera_head/stereo/image_rect_color/compressedDepth
/hdas/camera_head/stereo/image_rect_color/compressedDepth/parameter_descriptions
/hdas/camera_head/stereo/image_rect_color/compressedDepth/parameter_updates
/hdas/camera_head/stereo/image_rect_color/theora
/hdas/camera_head/stereo/image_rect_color/theora/parameter_descriptions
/hdas/camera_head/stereo/image_rect_color/theora/parameter_updates
/hdas/camera_head/stereo_raw/image_raw_color
/hdas/camera_head/stereo_raw/image_raw_color/compressed
/hdas/camera_head/stereo_raw/image_raw_color/compressed/parameter_descriptions
/hdas/camera_head/stereo_raw/image_raw_color/compressed/parameter_updates
/hdas/camera_head/stereo_raw/image_raw_color/compressedDepth
/hdas/camera_head/stereo_raw/image_raw_color/compressedDepth/parameter_descriptions
/hdas/camera_head/stereo_raw/image_raw_color/compressedDepth/parameter_updates
/hdas/camera_head/stereo_raw/image_raw_color/theora
/hdas/camera_head/stereo_raw/image_raw_color/theora/parameter_descriptions
/hdas/camera_head/stereo_raw/image_raw_color/theora/parameter_updates
/hdas/camera_head/temperature/imu
/hdas/camera_head/temperature/left
/hdas/camera_head/temperature/right
/hdas/feedback_arm_left
/hdas/feedback_arm_right
/hdas/feedback_chassis
/hdas/feedback_gripper_left
/hdas/feedback_gripper_right
/hdas/feedback_status_arm_left
/hdas/feedback_status_arm_right
/hdas/feedback_status_chassis
/hdas/feedback_status_torso
/hdas/feedback_torso
/hdas/imu_chassis
/hdas/imu_torso
/hdas/joint_states
/hdas/lidar_chassis_left
/joint_states
/map
/motion_control/chassis_speed
/motion_control/control_arm_left
/motion_control/control_arm_right
/motion_control/control_chassis
/motion_control/control_gripper_left
/motion_control/control_gripper_right
/motion_control/control_torso
/motion_control/pose_ee_arm_left
/motion_control/pose_ee_arm_right
/motion_control/pose_floating_base
/motion_control/position_control_gripper_left
/motion_control/position_control_gripper_right
/motion_target/brake_mode
/motion_target/chassis_acc_limit
/motion_target/target_joint_state_arm_left
/motion_target/target_joint_state_arm_right
/motion_target/target_joint_state_torso
/motion_target/target_speed_chassis
/rosout
/rosout_agg
/tf
/tf_static

[yunfanjiang]

Hello there, thank you for your interest. Can you first try directly sending commands through ros topics /motion_target/target_joint_state_torso and /motion_target/target_speed_chassis?

[Goat-L]

Hello there, thank you for your interest. Can you first try directly sending commands through ros topics /motion_target/target_joint_state_torso and /motion_target/target_speed_chassis?

Thanks for your fast reply! We tried sending command through ros topics /motion_target/target_joint_state_torso with the following code:

rostopic pub /motion_target/target_joint_state_torso sensor_msgs/JointState "header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' name: [] position: [0.0, 0.0, -0.20000000000000004, 0.0] velocity: [] effort: []"

But, there is no reaction.

Then, we used the rosrun HDAS check_node, and encountered the following WARNING:

`Self checking, please wait ...
True: /hdas/bms is right ...
True: /hdas/feedback_arm_left is right ...
True: /hdas/feedback_arm_right is right ...
True: /hdas/feedback_chassis is right ...
True: /hdas/feedback_status_arm_left is right ...
True: /hdas/feedback_status_arm_right is right ...
Topic: /hdas/feedback_status_torso | Frequency: 0.99608 Hz
Param 0: Min: 2 | Max: 2 | Avg: 2 | Set Max: 0.5 | Set Min: -0.5
Param 1: Min: 2 | Max: 2 | Avg: 2 | Set Max: 0.5 | Set Min: -0.5
Param 2: Min: 2 | Max: 2 | Avg: 2 | Set Max: 0.5 | Set Min: -0.5
Param 3: Min: 2 | Max: 2 | Avg: 2 | Set Max: 0.5 | Set Min: -0.5
Warning: /hdas/feedback_status_torso data or frequency out of range. Press Enter to continue...

True: /hdas/feedback_torso is right ...
True: /hdas/imu_chassis is right ...
Self check completed ... Please input 'CTRL+C' to exit. `