Hi everybody,
I got from Yaskawa the MotoPlus runtime package and I installed the `motoman_driver` packages.
I also used the `move_to_joint.py` to move the robot and wrote my own c++-Application sending the robot (publishing it in the `joint_path_command` topic) a `JointTrajectory` defined by a simple `JointTrajectoryPoint`.
This works quite good. I have also some experience IkFast to make the Ik ond FK- Transformations.
But now I want to be able to send an whole path to the robot and to plan the path.
I have basically no idea how I could do this. I think I should use MoveIt!, but there are no specefications on the MoveIt! Homepage for my robot.
Could you explain me which packages I may need to install for this and which kind of message I have to publish whereever? Or is there an example or Tutorial for this?
Thank you!
↧
Motion planing for Yaskawa Motoman MH5f
↧
annoying warnings for OcTreeBaseImpl.h/OcTreeIterator.hxx
I'm building MoveIt from source (indigo-devel branch for most packages), and getting this warnings everywhere (because octomap in included everywhere).
Is there a fix for octomap to get rid of them?
I'm using OSX 10.9, and Clang 5.1
In file included from /opt/ros/indigo/include/octomap/octomap.h:37:
In file included from /opt/ros/indigo/include/octomap/OcTree.h:38:
In file included from /opt/ros/indigo/include/octomap/OccupancyOcTreeBase.h:44:
/opt/ros/indigo/include/octomap/OcTreeBaseImpl.h:262:11: warning: class member
cannot be redeclared [-Wredeclared-class-member]
class leaf_iterator;
^
/opt/ros/indigo/include/octomap/OcTreeIterator.hxx:260:11: note: previous
declaration is here
class leaf_iterator : public iterator_base {
^
↧
↧
(OSX 10.9) link errors for depth_image_octomap_updater (indigo-devel branch)
Can't compile moveit_ros, getting linking errors. What can be the cause?
Linking CXX shared library /Users/sk/ros_workspace/moveit/devel/lib/libmoveit_depth_image_octomap_updater_core.dylib
[ 57%] Built target moveit_pointcloud_octomap_updater
Undefined symbols for architecture x86_64:
"occupancy_map_monitor::OccupancyMapMonitor::setMapFrame(std::__1::basic_string, std::__1::allocator> const&)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback(boost::shared_ptr> const> const&, boost::shared_ptr> const> const&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue&, std::__1::basic_string, std::__1::allocator> const&, double*)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::setParams(XmlRpc::XmlRpcValue&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::readXmlParam(XmlRpc::XmlRpcValue&, std::__1::basic_string, std::__1::allocator> const&, unsigned int*)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::setParams(XmlRpc::XmlRpcValue&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::updateTransformCache(std::__1::basic_string, std::__1::allocator> const&, ros::Time const&)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::depthImageCallback(boost::shared_ptr> const> const&, boost::shared_ptr> const> const&) in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::OccupancyMapUpdater(std::__1::basic_string, std::__1::allocator> const&)", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater() in depth_image_octomap_updater.cpp.o
"occupancy_map_monitor::OccupancyMapUpdater::~OccupancyMapUpdater()", referenced from:
occupancy_map_monitor::DepthImageOctomapUpdater::DepthImageOctomapUpdater() in depth_image_octomap_updater.cpp.o
occupancy_map_monitor::DepthImageOctomapUpdater::~DepthImageOctomapUpdater() in depth_image_octomap_updater.cpp.o
"typeinfo for occupancy_map_monitor::OccupancyMapUpdater", referenced from:
typeinfo for occupancy_map_monitor::DepthImageOctomapUpdater in depth_image_octomap_updater.cpp.o
ld: symbol(s) not found for architecture x86_64
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/sk/ros_workspace/moveit/devel/lib/libmoveit_depth_image_octomap_updater_core.dylib] Error 1
make[1]: *** [moveit_ros/perception/depth_image_octomap_updater/CMakeFiles/moveit_depth_image_octomap_updater_core.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 57%] Building CXX object moveit_ros/perception/semantic_world/CMakeFiles/moveit_semantic_world.dir/src/semantic_world.cpp.o
Linking CXX shared library /Users/sk/ros_workspace/moveit/devel/lib/libmoveit_semantic_world.dylib
[ 57%] Built target moveit_semantic_world
make: *** [all] Error 2
Update:
it can be fixed by adding moveit_occupancy_map_monitor to target_link_libraries of depth_image_octomap_updater
target_link_libraries(${MOVEIT_LIB_NAME}_core moveit_occupancy_map_monitor moveit_mesh_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
but i'm not sure if it was removed in indigo-devel intentionally, and if it should be put back
↧
Does moveIt monitor the planned path for validity?
Hi everyone,
I have a setup with a robot-arm and 3D-Sensors observing the workspace. I want the arm to execute some Pick & Place scenarios, while I move through the workspace.
Now, while planning the octomap gets respected, the created plans avoid any collisions.
But my question is, would moveIt check if an obstacle moved into the planned path, therefore making it invalid?
[Here](https://groups.google.com/forum/#!searchin/moveit-users/$20collision$20avoidance/moveit-users/osxc3aRlEHw/hBhsvfq_6JQJ) I read about the StateValidity-Service, but I am wondering if I have to implement it myself or if it happens automaticly?
Thanks in advance,
Rabe
↧
Planning-Scene: Is it sufficient to publish to "collision_object"?
Hey guys,
I am trying to add and move some objects to my planning_scene in MoveIt. Since I am currently running into weird errors, I wanted to know if it is correct, when I create my collision_object and publish it to */collision_object* OR do I also have to publish it to */planning_scene* as a diff?
Thanks in advance,
Rabe
↧
↧
TF2 - static_transform_publisher - Extrapolation into the future
Hello,
I have a couple of static_transform_publishers from the TF2 package running. How is it possible that a node complains about extrapolating into the future, when it tries to lookup a transformation from a random element to the static one? In my [understanding](http://wiki.ros.org/tf2/Migration), the static-transforms should be valid for all eternity, so why would you complain about timing issues?
A further explanation about my setup:
I have 2 Kinects and I am using those in my moveIt setup to create the Octomap.
As explained [here](http://answers.ros.org/question/192871/tf-extrapolation-into-future-wierd-chain/), moveIt complains about extrapolation into the future while looking up a transform from my robot to the cameras.
My first solution was to write a python node, which would handle all the publishing instead of seperate static_transform_publishers from the old TF. There, I could date the transformations back in time to avoid those issues.
Now I read about the static transforms in TF2 and implemented all the camera transformations like this:
↧
Problems with moveit. Exit code -11
Hello,
I'm using Hydro, Ubuntu 12.04 and I installed Moveit from the source.
When I try to load my .urdf with the setup_assistant, moveit prints that:
[ INFO] [1411283688.252217911]: Loaded motoman_mh5 robot model.
[ INFO] [1411283688.252495879]: Setting Param Server with Robot Description
[ INFO] [1411283688.258372674]: Robot semantic model successfully loaded.
[ INFO] [1411283688.258451525]: Setting Param Server with Robot Semantic Description
[ INFO] [1411283688.290750255]: Loading robot model 'motoman_mh5'...
[ INFO] [1411283688.290813881]: No root joint specified. Assuming fixed joint
================================================================================
REQUIRED process [moveit_setup_assistant-1] has died!
process has died [pid 14258, exit code -11, cmd /home/lower/moveit/devel/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/lower/.ros/log/e5208dd8-415d-11e4-a760-00216a36b28c/moveit_setup_assistant-1.log].
log file: /home/lower/.ros/log/e5208dd8-415d-11e4-a760-00216a36b28c/moveit_setup_assistant-1*.log
Initiating shutdown!
In other computer with the same system, it works. So I assume that the .urdf is ok.
Thanks!
Running it with GDB, that is what I get:
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
↧
Implement MoveIt! on Real Robot
Hi all,
Unfortunately I am really struggling with implementing MoveIt! on my custom hardware.
Basically I am stuck in connecting to an Action Client.
I have been successful in using a driver package to control my motor drivers (RoboClaw).
[link](https://github.com/bcharrow/scarab/tree/master/roboclaw) from @bcharrow
Unfortunately in MoveIt am always greeted with:
>[INFO] [1410916361.912676781]: MoveitSimpleControllerManager: Waiting for /full_ctrl/joint_trajectory_action to come up>[ERROR] [1410916366.912904732]: MoveitSimpleControllerManager: Action client not connected: /full_ctrl/joint_trajectory_action>[ INFO] [1410916371.938914542]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up>[ INFO] [1410916376.939103684]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up>[ERROR] [1410916381.939338320]: MoveitSimpleControllerManager: Action client not connected: /gripper_ctrl/joint_trajectory_action>[ INFO] [1410916381.957750506]: Returned 0 controllers in list>[ INFO] [1410916381.963234975]: Trajectory execution is managing controllers
My Action Client is based on this:
[link](http://docs.ros.org/diamondback/api/pr2_props/html/repeat__high__five_8cpp_source.html)
Can anyone offer more of a step by step instruction on connecting my robot to MoveIt, i haven't found any such tutorial or etc such as:
[link1](https://github.com/ros-controls/ros_control/wiki/controller_interface)
[link2](http://www.seas.upenn.edu/~juse/tutorial/ckbot_moveit.html)
Cheers,
Chris.
↧
Linear movement with moveit?
Hello,
I'm using moveit and rviz to move my robot.
Anyone knows how can I define a linear movement?
↧
↧
constraint path planning ur5
Hi there,
I am following this tutorial
http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot
in order to move my real ur5. So far I get the simulated robot running using the demo.launch file from
https://github.com/ros-industrial/universal_robot.
After specifying a desired end-effector position in the cartesian frame ( in the rviz gui) I often receive path planning which seems to be not very cost efficient. Furthermore, my robot will be mounted on a flat surface which means that the robot will collide in case any point is below z=0 of the base(world) frame.
How can I constrain the path planning in order to only get paths wich are limited to my reachable task space?
↧
UR5 self-collisions
Hello all,
I'm using ROS and MoveIt! to control an UR5 robot arm. Sometimes the robot arm collides with itself. Is this a bug in moveit or the universal_driver package, or am I doing something wrong?
I use the group.plan() method of the moveit_commander.MoveGroupCommander class (in Python).
I've noticed that the Semantic Robot Description of the UR5 (ur5.srdr) has been changed since version 1.0.4 (indigo). A number of "avoid_collision" statements were added, that seem wrong to me. I think the following lines are incorrect, because the specified links CAN collide with each other:
↧
Biped (Dual Arm) planning in MoveIt - How to?
Hi All,
I have a dual arm biped system as shown in MoveIt here:
The system works by having one arm grasping a support whilst the other reaches out for another. Switching between the two, locomotion is carried out.
The problem i have is that I have only been able to move the robot from the same gripper, i can't switch which one is stationary from which the rest of the joints should be calculated.
How can I plan trajectories for this system??
I intended to plan from one gripper, obtain a new support, change the fixed gripper to the other side, the plan again from this new point.
Any help is much appreciated.
Regards,
Chris.
↧
How to plan multiple, sequential motions with MoveIt in RViz
Hi guys,
I am the new for the moveit.
Following the tutorials, I can use the motion plan with my robot in the moveit rviz, means I can let my robot's arm move from the start state to the goal state.
And now I tried to plan a series of action for my robot, like, let the robot's arm moved from state A to state B, then from state B to state C, then from state C to state D …...
But all I can find so far in the moveit rviz, just one movement.
So my question is, can I plan a series of action in the moveit rviz? If I can, how should I do?
Thank you very much.
↧
↧
Assimp and RViz will not import .scene file
I am trying to load a collision object into my hydraulic arm's planning scene, but it doesn't work with the [pillar example provided for the baxter robot](http://sdk.rethinkrobotics.com/wiki/MoveIt_Tutorial):
[ WARN] [1412647012.600856139]: Assimp reports no scene in file:///home/controller/Downloads/baxter_pillar.scene
There is a `box.stl` from the [MoveIt! tutorial](http://moveit.ros.org/wiki/Environment_Representation/Rviz#STEP_3:_Save_the_scene_to_the_database) example that loads perfectly well.
Why is `Assimp` not loading these text scene files? All I want to do is have a cylinder that my robot is not allowed to collide with when executing a path.
Kind Regards
Bart
↧
Creating an Inverse Kinematics Service from MoveIt!
Hi All,
I have got my hydraulic arm successfully able to be controlled from MoveIt! and IKFast as per the scenario in http://answers.ros.org/question/190808/using-moveit-to-control-the-end-of-a-hydraulic-arm-in-cartesian-coordinates/ , but I can't find the steps for creating a service where I issue a request consisting of Cartesian Coordinates as an input and getting joint angles as an output. There is some stuff about the [PR2 arm](http://wiki.ros.org/pr2_kinematics/Tutorials/Tutorial%204), but I can't work out how to adapt this for my arm.
Can anybody point me in the right direction?
Kind Regards
Bart
↧
What data type does Moveit use
Hello,
I was wondering what type of data Moveit uses when using octomaps. I have a pointcloud made with halcon which i want to convert to an octomap. This octomap is to be read by Moveit where i can check collisions. What data type is best used to convert to an octomap and what file type is used by Moveit?
Also if you happen to have some kind of tutorial on how to do this in ros, since i am new to ros and c++, i would appreciate it.
Kind regards
Joris
↧
Problem with MoveGroup (Moveit)
I'm following the Moveit tutorials, but I can't create the first variable.
I found this link([https://groups.google.com/forum/#!msg/moveit-users/JohDfeDhl6U/ZFfFDsDw7W8J](https://groups.google.com/forum/#!msg/moveit-users/JohDfeDhl6U/ZFfFDsDw7W8J)), but I don't understand the answer
Code:
#include
#include
#include
#include
#include
#include
int main(int argc, char **argv)
{
ros::init(argc, argv, "moveit_test");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
sleep(20.0);
moveit::planning_interface::MoveGroup group("manipulator");
ros::shutdown();
}
Catkin_make:
/home/uplow/cworkspace/moveit/src/moveit_test_programming/src/testi.cpp: In function �int main(int, char**)�:
/home/uplow/cworkspace/moveit/src/moveit_test_programming/src/testi.cpp:17:39: error: no matching function for call to �moveit::planning_interface::MoveGroup::MoveGroup()
/home/uplow/cworkspace/moveit/src/moveit_test_programming/src/testi.cpp:17:39: note: candidates are:
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:122:3: note: moveit::planning_interface::MoveGroup::MoveGroup(const string&, const boost::shared_ptr&, const ros::Duration&)
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:122:3: note: candidate expects 3 arguments, 0 provided
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:116:3: note: moveit::planning_interface::MoveGroup::MoveGroup(const moveit::planning_interface::MoveGroup::Options&, const boost::shared_ptr&, const ros::Duration&)
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:116:3: note: candidate expects 3 arguments, 0 provided
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:69:7: note: moveit::planning_interface::MoveGroup::MoveGroup(const moveit::planning_interface::MoveGroup&)
/opt/ros/hydro/include/moveit/move_group_interface/move_group.h:69:7: note: candidate expects 1 argument, 0 provided
↧
↧
Load file error in MoveIt Setup Assistant
Hello,everyone!
I'm a novice of ROS. I encountered a difficulty when using MoveIt!. The output is like this:
ros@ros-Lenovo-Product:~$ roslaunch moveit_setup_assistant setup_assistant.launch
... logging to /home/ros/.ros/log/dacff944-5446-11e4-8c43-940c6d7adfff/roslaunch-ros-Lenovo-Product-8872.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ros-Lenovo-Product:51343/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)
auto-starting new master
process[master]: started with pid [8886]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to dacff944-5446-11e4-8c43-940c6d7adfff
process[rosout-1]: started with pid [8899]
started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [8911]
[rospack] Error: no package/stack given
[librospack]: error while executing command
[ INFO] [1413362478.426405005]: Running 'rosrun xacro xacro.py /opt/ros/hydro/share/pr2_description/robots/pr2.urdf.xacro'...
sh: 1: rosrun: not found
According to the implication, the command 'rosrun' is unknown when reading the file “/opt/ros/hydro/share/pr2_description/robots/pr2.urdf.xacro”.
I installed ros-hydro and MoveIt from source and added the following line to “~/.bashrc” :
source ~/ros_catkin_ws/install_isolated/setup.bash
source ~/moveit/devel/setup.bash
It seemed that moveit’s setup have covered ros’s. What should I do in such circumstance?
Thank you for your attention!!!
↧
Load file error in MoveIt Setup Assistant
Hello,everyone!
I'm a novice of ROS(Ubuntu 13.04 and ROS-hydro). I encountered a difficulty when using MoveIt!. The output is like this:
ros@ros-Lenovo-Product:~$ roslaunch moveit_setup_assistant setup_assistant.launch
... logging to /home/ros/.ros/log/dacff944-5446-11e4-8c43-940c6d7adfff/roslaunch-ros-Lenovo-Product-8872.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ros-Lenovo-Product:51343/
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
/
moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)
auto-starting new master
process[master]: started with pid [8886]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to dacff944-5446-11e4-8c43-940c6d7adfff
process[rosout-1]: started with pid [8899]
started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [8911]
[rospack] Error: no package/stack given
[librospack]: error while executing command
[ INFO] [1413362478.426405005]: Running 'rosrun xacro xacro.py /opt/ros/hydro/share/pr2_description/robots/pr2.urdf.xacro'...
sh: 1: rosrun: not found
According to the implication, the command 'rosrun' is unknown when reading the file “/opt/ros/hydro/share/pr2_description/robots/pr2.urdf.xacro”.
I installed ros-hydro and MoveIt from source and added the following line to “~/.bashrc” :
source ~/ros_catkin_ws/install_isolated/setup.bash
source ~/moveit/devel/setup.bash
It seemed that moveit’s setup have covered ros’s. What should I do in such circumstance?
Thank you very much for your attention!!!
↧
Different padding for different objects?
Hey everyone,
I have the following problem with MoveIt & DepthImageOctomapUpdater:
I have a Kinect looking at my robot-arm. For the self-detection to work properly, I need to set pretty big padding values in the sensors_rgbd.yaml. That's not ideal, but ok for me. But now the robot is standing on a table, which I also add as a collisionObject. Once it's added it gets the same high padding values. This leads to objects disappearing in the octomap, once they are placed on the table.
Is there a way to tell moveIt to only apply the generous padding to the robot and not to the collisionObjects?
Also, would some of you mind explaining me the difference between `padding_scale` and `padding_offset`? I couldn't quite make reason out of the explanation in the [wiki](http://moveit.ros.org/wiki/3D_Sensors).
Thanks in advance,
Rabe
sensors:
- sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
image_topic: /camera_top/depth/image_raw
queue_size: 15
near_clipping_plane_distance: 0.65
far_clipping_plane_distance: 2.0
skip_vertical_pixels: 3
skip_horizontal_pixels: 3
shadow_threshold: 9.0
padding_scale: 7.5
padding_offset: 0.07
filtered_cloud_topic: output_cloud
↧