I think the best available document for setting controller manager for MoveIt! is available from [this QA post](http://answers.ros.org/question/167501/how-to-solve-parameter-moveit_controller_manager-not-specified/), which is not sufficient for me to do my task. Is there another document for this?
I have a controller (w/o source code) that takes [trajectory_msgs/JointTrajectory](http://docs.ros.org/api/trajectory_msgs/html/msg/JointTrajectory.html). I tried controller manager setting as below but still get the error.:
Created 99 (49 start + 50 goal) states in 75 cells (40 start (40 on boundary) + 35 goal (35 on boundary))
[ INFO] [1413825616.200813156]: Solution found in 0.828512 seconds
[ INFO] [1413825616.284702791]: Path simplification took 0.083540 seconds
[ INFO] [1413825625.393148074]: Received new trajectory execution service request...
[ERROR] [1413825625.393265662]: Unable to identify any set of controllers that can actuate the specified joints: [ CARM/ELBOW_P CARM/LINEAR CARM/SHOULDER_P CARM/SHOULDER_R CARM/SHOULDER_Y CARM/WRIST_P CARM/WRIST_R CARM/WRIST_Y ]
Some values are just my random guess from looking at what others do (eg. [maxwell](https://github.com/mikeferguson/maxwell/tree/indigo-devel/maxwell_moveit_config/config), [pr2](http://moveit.ros.org/wiki/PR2/Execution_of_Trajectories_with_MoveIt!)).
X_moveit_config/config/controllers.yaml
controller_list:
- name: arm_controller # Can it be anything or is this specified somewhere?
action_ns: joint_trajectory # Can it be anything or is this specified somewhere?
type: JointTrajectory
default: true
joints:
- ARMGR/LINEAR
- ARMGR/SHOULDER_Y
- ARMGR/SHOULDER_R
- ARMGR/SHOULDER_P
- ARMGR/ELBOW_P
- ARMGR/WRIST_Y
- ARMGR/WRIST_R
- ARMGR/WRIST_P
- name: gripper_controller # Can it be anything or is this specified somewhere?
type: HandMove
action_ns: gripper_action # Can it be anything or is this specified somewhere?
default: true
joints:
- ARMGR/HAND/JOINT_1
- ARMGR/HAND/JOINT_2
X_moveit_config/launch/X_moveit_controller_manager.launch
↧
Setting MoveIt! controller manager
↧
How to solve 'Parameter '~moveit_controller_manager' not specified'?
When I run: roslaunch sam_moveit_wizard_generated move_group.launch
It says:
[ INFO] [1400647657.748106413, 748.461000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1400647657.809613293, 748.476000000]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.
[ INFO] [1400647657.826129681, 748.479000000]: Trajectory execution is managing controllers
and I try to run:
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$ rosrun sam_moveit_learning pose right_arm 0.7 -0.2 0.7 0 0 0
[ INFO] [1400647661.271172191, 749.458000000]: Ready to take MoveGroup commands for group right_arm.
[ INFO] [1400647661.271335019, 749.458000000]: Move to : x=0.700000, y=-0.200000, z=0.700000, roll=0.000000, pitch=0.000000, yaw=0.000000
[ INFO] [1400647662.016181981, 749.640000000]: ABORTED: Solution found but controller failed during execution
^Csam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$
I also got this error:
[ INFO] [1400647661.483935586, 749.503000000]: Path simplification took 0.016063 seconds
[ERROR] [1400647662.013314708, 749.640000000]: Unable to identify any set of controllers that can actuate the specified joints: [ r_elbow_flex_joint r_forearm_roll_joint r_shoulder_lift_joint r_shoulder_pan_joint r_upper_arm_roll_joint r_wrist_flex_joint r_wrist_roll_joint ]
[ERROR] [1400647662.013418353, 749.640000000]: Apparently trajectory initialization failed
I try to fix it by install but not works:
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$ sudo apt-get install ros-groovy-pr2-moveit-plugins
[sudo] password for sam:
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-groovy-pr2-moveit-plugins is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 168 not upgraded.
sam@sam:~/code/groovy_overlay/src/sam_moveit_learning/bin$
How to solve it?
Thank you~
↧
↧
Run Qt function from cpp
Hello,
I'm using moveit with the plugin ["Cartesian path planner"](http://rosindustrial.org/news/2014/9/5/cartesian-path-planner-plug-in-for-moveit)
This plugin is based on Qt.
I would like to call these Qt functions from other cpp.
This is because I need to calculate paths just sending the points through rosbridge.
Is this possible?. Maybe there is an easier way to do that.
Repository: [here](https://github.com/ros-industrial-consortium/fermi/tree/hydro-devel/moveit_cartesian_plan_plugin)
↧
MoveIt Commander not able to find a motion plan
Hello all,
I'm trying to program a UR5 robot arm using ROS.
I'm happy to see there's a lot of development going on, and many packages are already available, such as the universal_robot package, moveit, rviz and many other ROS packages. However, as a new user, it's difficult to see the relations/dependencies between all those packages, and how certain configuration choices (e.g. a specific branch or version of a module, a configuration parameter, etc.) affect the abilities of the robot.
Specifically, I'm trying to program some (simple) moves of the robot arm in an environment with a small number of collision objects to avoid. Sometimes the motion planner finds a solution, sometimes it doesn't. When calling group.plan() repeatedly, it might find a solution after a number of attempts, but sometimes it really doesn't seem to be able to find a motion plan.
I can think of the following "choices" that may or may not affect the planning performance:
- Different versions of the universal_robots package.
- Using KDLKinematicsPlugin vs. UR5KinematicsPlugin.
- Use of the parameter limited:=true vs. limited:=false for ur_driver (is this different when using UR5KinematicsPlugin?).
- Use of the parameter limited:=true vs. limited:=false for moveit.
- Start position of the robot arm (e.g. one of the joint states possibly outside the allowed range in case limited:=true, or maybe just a more "difficult" pose to move from?).
Any information about how these choices affect the motion planner will be very helpful.
I think the most important questions for me at this moment are:
- Should I use the KDLKinematicsPlugin or the UR5KinematicsPlugin?
- Should I use the limited:=true parameter for the ur_driver? And for moveit?
- What should I expect from the current state of the motion planner (in combination with the universal_robot package). Should it be able to always find a solution for "reasonably easy" paths? What are the experiences of other users?
Thanks in advance for your answers!
EDIT: Just to clarify, the reason I asked about "different versions of the universal_driver package", the kinematics plugins and the limit parameters, is that I noticed that between versions 1.0.3 and 1.0.4 of the universal_driver package the kinematics plugin has changed from KDL to UR5. Initially I could not get the motion planning to work at all after this update, but when I removed the limit parameter it worked again (at least sometimes). My guess is that the behaviour of the UR5KinematicsPlugin with respect to the limit parameter is different than that of the KDLKinematicsPlugin. Maybe because the UR5 plugin is specifically targeted for the UR5 and thus always works with the full range?!
But if I remove the limit parameter, moveit apparently has troubles finding trajectories. So how should I get these to work together?
↧
MoveIt Collision Avoidance With Point Cloud 2
Hi, I am attempting to set up a UR5 with MoveIt and an asus xtion for collision avoidance based on the sensor data in a Point Cloud 2 stream. I am stuck on how to publish the data from the point cloud 2 topic to moveit's planning scene so it can be used for collision checking. I currently have octomap installed and running and can generate an occupancy grid from the point cloud 2 stream, however octomap_server does not appear to be publishing any data to a topic moveit can use. Is there a way to publish the data either from the point cloud 2 or occupancy grid topics to moveit for collision avoidance? If so, where should I look?
↧
↧
Storing scenes without robot model
Hi,
I'm already kind of familiar with RViz/MoveIt!. I have my robot model imported, have some scene objects imported and now I'm trying to store some scenes. Already have some scenes, but I would like to store a scene with only the scene objects and not the state of the robot at that time. The reason is because I also sometimes move the robot with an other method besides RViz/MoveIt!. When I want to load one of my stored scenes it also loads the state of the robot, which is not the same as the actual position of the robot. After trying to plan a trajectory this gives problems with controlling the robot, because the state that is loaded into RViz/MoveIt! doesn't correspond with the data that the sensors are actually giving.
So in short. Is it possible to save a scene without that the robot current state is also saved into that scene?
↧
Cartesian trajectory description: which message type?
Hi all,
I need to describe a cartesian trajectory using messages. This trajectory description should contain:
- a reference frame
- an array of waypoints
and each waypoint should contain:
- a time
- a cartesian position (i.e. a transform or say a frame)
- a cartesian velocity
- a cartesian acceleration
Now I thought this must already exist and I had a look in common_msgs. I have stumbled accross:
- [trajectory_msgs/MultiDOFJointTrajectory](http://docs.ros.org/api/trajectory_msgs/html/msg/MultiDOFJointTrajectory.html): which does what I want but for (multiple) joints, I could use it for my case but this would be kind of a hack, no?
- [nav_msgs/Path](http://docs.ros.org/api/nav_msgs/html/msg/Path.html): only includes positions (no speed, nor acceleration)
Is the ROS standard way to use trajectory_msgs/MultiDOFJointTrajectory? Or do you know if there is any other message which could better fit my needs?
Thanks,
Antoine.
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error with new moveit_core 0.6.11
ros indigo
ubuntu 14.04 trusty
i have just installed moveit_core-indigo-devel 0.6.11. as i was facing the same error in "constraint_samplers::IKConstraintSampler::callIK with assertion validate(state) failed."
i am now getting the error:
/opt/ros/indigo/lib/libmoveit_planning_scene_monitor.so: undefined reference to `planning_scene::PlanningScene::PlanningScene(boost::shared_ptr const&, boost::shared_ptr)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/jaysin/ros/ws_clam/devel/lib/hal_main/arms_server] Error 1
make[1]: *** [clam/hal_main/CMakeFiles/arms_server.dir/all] Error 2
make: *** [all] Error 2
i have tried different things with my link libraries in CMakeLists.txt but no success. the library "libmoveit_planning_scene.so" and it's header "planning_scene.h" are both there.
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[moveIt] Prevent motions through unknown areas?
Hey everyone,
I was just wondering if there is a feature implemented into MoveIt, that prevents the robot from going through unknown areas? My 3D-Camera feeds the DepthImageOctomapUpdater plugin, which as far as I know differentiates between "empty" "full" and "unknown", so in theory it should be possible, right?
Thanks in advance,
Rabe
↧
↧
How do I disable execution_duration_monitoring ?
I'm using the [fanuc_experimental](https://github.com/ros-industrial/fanuc_experimental) package for ROS-Industrial and when launching the [moveit_planning_execution.launch](https://github.com/ros-industrial/fanuc_experimental/blob/hydro-devel/fanuc_m10ia_moveit_config/launch/moveit_planning_execution.launch) I get the following error:
[ERROR] [1415027195.809289492]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 4.992567 seconds). Stopping trajectory.
The error is explained [here](http://moveit.ros.org/wiki/Executing_Trajectories_with_MoveIt!#The_Trajectory_Execution_Manager) (last bullet). What I understand is that I have to add a line in one of the launch file, something like:
I tried 2 things without success:
[trajectory_execution.launch.xml](https://github.com/ros-industrial/fanuc_experimental/blob/hydro-devel/fanuc_m10ia_moveit_config/launch/trajectory_execution.launch.xml)
And [move_group.launch](https://github.com/ros-industrial/fanuc_experimental/blob/hydro-devel/fanuc_m10ia_moveit_config/launch/move_group.launch)
↧
Trying to make a debian package
Hi,
I'm working with Rviz/MoveIt! to plan my robots movement. However I want/have to make the use of Rviz/MoveIt! easier for my colleagues and less experienced users. I am aiming at editing the ros-hydro-moveit-ros-visualization package.
I already found the source code of the package and I have also found what I wanted to change. However now I'm stuck.
To install the changed source code I first have to convert it to a debian package. I tried several methods and how-to's that I've found on google, but none of them give me the desired result. Or I get errors when trying to compile/convert or the build of the .deb file I made doesn't share any similarities to the original .deb file I got from packages.ros.org.
For example my .deb doesn't install in the /opt/ros/hydro folder. Also my .deb file doesn't have any library files etc.
In short the .deb files I managed to make only have the original source code files in it.
How do I make a correct .deb file that installs in the correct folder, has the correct library files etc?
↧
Modelling a robot using urdf / xacro for Moveit
Hi there
I'm working with a robot in Moveit: [Here](http://wiki.ros.org/staubli) you can find the package of the robot.
I have an issue with their articulations, as it's shown in those pictures:
1-
All joints are in their initial position:
2-After moving Joint_2 in Moveit, this is what happen:
This first link_1 get out from the robot !!
My question as you probably understand, is how and where can I fix that issue :D ?
↧
How to make rviz model follow joint states with MoveIt?
Hello everyone,
I have the following problem:
I successfully configured moveit for my robot. Now I want my rviz visualization to follow the robot movement, hence when the robot moves, it shoult move as well.
What I do:
I have a joint_states topic on which the current joint states are published. Then I feed these into a robot_state_publisher calculating tf for my robot.
But it moveit/rviz seems not to care. I can plan and execute (send to controller) my movements from rviz but no matter what the joint states are, the visualization never moves.
So what am I missing? Is there something special I should have took care of?
Thank you for your time, Marcel
↧
↧
gripper_action_controller configuration
Hello,
I'm using Hydro and I saw that the ros_controllers package has a gripper controller. I have the wsg_50 gripper and I would like to use it with the gripper action controller but I don't know how to do it. My final idea is to integrate it with MoveIt. Someone could help me?
Thanks!
↧
How to plan moves with gripper attached to arm?
Hello,
I've successfully planned and executed various motions using our UR5 robot arm without any tools. Now I want to attach a custom-made gripper to the arm, but I don't know what to do to make ROS/MoveIt! "aware" of the gripper, such that the gripper (and any objects in it) do not collide with anything, and to be able to grab items with the gripper.
I have read many tutorials and examples, but they all seem to cover only a specific part and I still haven't been able to get this to work.
Can anyone please explain the necessary steps? Such as how to define a model of the gripper, how to set the state (open/closed position) of the gripper, how to approach the object I want to grasp.
I have the feeling this would already be explained somewhere, but I couldn't find a document explaining all these steps. If no such document is available, maybe an overview of the necessary steps with links to the appropriate documents/tutorials would also be helpful.
NB: I'm using ROS Indigo and preferably writing in Python (C++ is possible if necessary).
Regards,
Wouter
↧
urdf Moveit articulation robot
I wanna ask you a simple question about where the articulation axis is defined ? or must be defined ?
in 'stl' files or in urdf ?
This is from my urdf file
↧
moveit benchmark log, where is it?
Hello!
I am trying to run some benchmarks with moveit and the rviz plugin, following this tutorial: http://moveit.ros.org/wiki/Benchmarking
The benchmark seems to run without problems, except that I am not able to find the log file to see the results.
In the tutorial it is stated this, about the configuration file parameters:
> output (optional) Location for saving> computed data in *.log format. "1.log"> will automatically be appended to the> file name. The default output location> is in in your ~/.ros folder.
but I can't find the log file in that folder... Maybe it's a bug? Where do I have to search for it?
Thank you in advance!
kir
↧
↧
Problem converting simple urdf file in collada
Hi all,
I have a problem converting a very simple urdf file in collada (.dae) to use ikfast. I have a more complicated robot but I started to have this error even with a very simple urdf file:
I/O error : No such file or directory
I/O error : No such file or directory
error : xmlNewTextWriterFilename : cannot open uri
Document successfully written to prova.dae
but the prova.dae file does not exist.
The prova.urdf file that I am trying to convert is:
↧
Running Moveit on Indigo with UR5 fails
Installed Moveit (*sudo apt-get install ros-indigo-moveit-**), and UR from source (*cd src/; git clone https://github.com/ros-industrial/universal_robot; catkin_make;*).
This is what I'm getting:
process[robot_state_publisher-4]: started with pid [27554]
ERROR: cannot launch node of type [pr2_mechanism_diagnostics/pr2_mechanism_diagnostics]: pr2_mechanism_diagnostics
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/eyal/catkin_ws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks
[ INFO] [1418585530.820327835]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1418585530.829246008]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.0.0.8
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.0.0.8
process[fake_joint_calibration-6]: started with pid [27614]
process[joint_state_controller_spawner-7]: started with pid [27617]
spawn_model script started process[arm_controller_spawner-8]: started with pid [27621]
Warning [gazebo.cc:215] Waited 1seconds for namespaces.
[INFO] [WallTime:1418585532.092245] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1418585532.111116] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1418585532.396360863, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [WallTime:1418585532.428830] [0.038000] Calling service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1418585537.427728] [4.353000] Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1418585537.483659185, 4.353000000]: Physics dynamic reconfigure ready.
[spawn_gazebo_model-3] process has finished cleanly log file: /home/eyal/.ros/log/b769b19a-83c4-11e4-b6b6-00242bb0cf2e/spawn_gazebo_model-3*.log
[ INFO] [1418585538.169698380, 4.353000000]: Loading gazebo_ros_control plugin
[ INFO] [1418585538.170219815, 4.353000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1418585538.172550559, 4.353000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ERROR] [1418585538.277281754, 4.353000000]: No valid hardware interface element found in joint 'shoulder_pan_joint'.
[ERROR] [1418585538.278313449, 4.353000000]: Failed to load joints for transmission 'shoulder_pan_trans'.
[ERROR] [1418585538.279196313, 4.353000000]: No valid hardware interface element found in joint 'shoulder_lift_joint'.
[ERROR] [1418585538.279989430, 4.353000000]: Failed to load joints for transmission 'shoulder_lift_trans'.
[ERROR] [1418585538.280931031, 4.353000000]: No valid hardware interface element found in joint 'elbow_joint'.
[ERROR] [1418585538.281650396, 4.353000000]: Failed to load joints for transmission 'elbow_trans'.
[ERROR] [1418585538.282450498, 4.353000000]: No valid hardware interface element found in joint 'wrist_1_joint'.
[ERROR] [1418585538.283174123, 4.353000000]: Failed to load joints for transmission 'wrist_1_trans'.
[ERROR] [1418585538.283884479, 4.353000000]: No valid hardware interface element found in joint 'wrist_2_joint'.
[ERROR] [1418585538.284610269, 4.353000000]: Failed to load joints for transmission 'wrist_2_trans'.
[ERROR] [1418585538.285273762, 4.353000000]: No valid hardware interface element found in joint 'wrist_3_joint'.
[ERROR] [1418585538.286017432, 4.353000000]: Failed to load joints for transmission 'wrist_3_trans'.
[ INFO] [1418585538.683446532, 4.353000000]: Loaded gazebo_ros_control.
[ERROR] [1418585539.442019602, 4.732000000]: Could not find joint 'shoulder_pan_joint' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1418585539.443289037, 4.733000000]: Failed to initialize the controller
[ERROR] [1418585539.443702987, 4.733000000]: Initializing controller 'arm_controller' failed
[ERROR] [WallTime: 1418585540.452309] [5.530000] Failed to load arm_controller
Any idea why it fails to load the joints transmissions?
↧
how to change default planner for moveit
I am attempting to change the default planner for moveit from LBKPIECE1 to ESTkConfigDefault. I have tried appending:
default_planner_config: ESTkConfigDefault
to the end of my ompl_planning.yaml with no success. I have yet to find any other way to accomplish this from either the command line or through configuration files. My full ompl_planning.yaml file is copied below in case it is relevant.
planner_configs:
SBLkConfigDefault:
type: geometric::SBL
ESTkConfigDefault:
type: geometric::EST
LBKPIECEkConfigDefault:
type: geometric::LBKPIECE
BKPIECEkConfigDefault:
type: geometric::BKPIECE
KPIECEkConfigDefault:
type: geometric::KPIECE
RRTkConfigDefault:
type: geometric::RRT
RRTConnectkConfigDefault:
type: geometric::RRTConnect
RRTstarkConfigDefault:
type: geometric::RRTstar
TRRTkConfigDefault:
type: geometric::TRRT
PRMkConfigDefault:
type: geometric::PRM
PRMstarkConfigDefault:
type: geometric::PRMstar
manipulator:
planner_configs:
- SBLkConfigDefault
- ESTkConfigDefault
- LBKPIECEkConfigDefault
- BKPIECEkConfigDefault
- KPIECEkConfigDefault
- RRTkConfigDefault
- RRTConnectkConfigDefault
- RRTstarkConfigDefault
- TRRTkConfigDefault
- PRMkConfigDefault
- PRMstarkConfigDefault
projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
longest_valid_segment_fraction: 0.05
default_planner_config: ESTkConfigDefault
↧