Hi guys,
I am on ROS Kinetic and Ubuntu 16.04 LTS. I am trying to use MoveIt! to execute a trajectory (between 2 random points, for example) on a manipulator using a node that sends this trajectory. I have previously used this same code to execute the trajectory in Gazebo so I know that the code works.
I can plan and execute in the MoveIt! GUI in RViz with no problems, the arm moves perfectly to the desired point and orientation. Now I want to be able to code trajectories, so that's my struggle right now. First, whenever I launched the node with the code, I would get this message:
[ WARN] [1524843705.443787714]: Waiting for robotis_manipulator_h/main_group_controller/follow_joint_trajectory to come up
[ INFO] [1524843708.822639288]: Failed to call service get_planning_scene, have you launched move_group? at /home/josebrito/catkin_ws/src/moveit-kinetic-devel/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:485
[ INFO] [1524843709.024521785]: Constructing new MoveGroup connection for group 'main_group' in namespace ''
[ WARN] [1524843711.444321642]: Waiting for robotis_manipulator_h/main_group_controller/follow_joint_trajectory to come up
[ERROR] [1524843717.444503875]: Action client not connected: robotis_manipulator_h/main_group_controller/follow_joint_trajectory
[ INFO] [1524843717.550721955]: Returned 0 controllers in list
[ INFO] [1524843717.592185366]: Trajectory execution is managing controllers
So I started an action server using this node in my launch file:
And now, whenever I run the node, I get all of these errors:
Do you guys have any ideas on why are they appearing?
Best regards,
José Brito
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MoveIt! failling to execute trajectory in real robot
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Moveit-Problem with RRT*-approximate solutions
I am facing a strange issue while planning using **RRTstarkConfigDefault** planner in moveit. Sometimes,while planning for a goal target the planner seems to find an approximate solution according to logs.It also says that solution was found by one or more thread in the specified time.But then,no execution is attempted.
Can soemone please explain what approximate solution actually is and why can't it be executed.Also,Is there an option to force moveit to execute the approximate solution?
My setup is a UR5 mounted on a pedestal ,and the environment has collision objects in it. Ubuntu 14.04 ROS Indigo moveit.
Attaching moveit logs for the same below:-
[ INFO] [1507280698.348545594]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1507280698.348666202]: Planning attempt 1 of at most 1
[ERROR] [1507280698.348754174]: Found empty JointState message
[ERROR] [1507280698.348780671]: Found empty JointState message
[ERROR] [1507280698.349093940]: Found empty JointState message
[ERROR] [1507280698.350262806]: Found empty JointState message
[ INFO] [1507280698.350590933]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1507280698.350630246]: Planner configuration 'manipulator[RRTstarkConfigDefault]' will use planner 'geometric::RRTstar'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1507280698.350689544]: manipulator[RRTstarkConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1507280698.350838742]: manipulator[RRTstarkConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1507280698.350862872]: manipulator[RRTstarkConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1507280698.350885261]: manipulator[RRTstarkConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1507280698.350907908]: manipulator[RRTstarkConfigDefault]: problem definition is not set, deferring setup completion...
[ INFO] [1507280698.351071265]: manipulator[RRTstarkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1507280698.351086324]: manipulator[RRTstarkConfigDefault]: Initial k-nearest value of 3
[ INFO] [1507280698.354906766]: manipulator[RRTstarkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1507280698.354987262]: manipulator[RRTstarkConfigDefault]: Initial k-nearest value of 3
[ INFO] [1507280698.357250876]: manipulator[RRTstarkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1507280698.357358566]: manipulator[RRTstarkConfigDefault]: Initial k-nearest value of 3
[ INFO] [1507280698.360848714]: manipulator[RRTstarkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1507280698.360891911]: manipulator[RRTstarkConfigDefault]: Initial k-nearest value of 3
[ INFO] [1507280703.350975734]: ProblemDefinition: Adding approximate solution from planner manipulator[RRTstarkConfigDefault]
[ INFO] [1507280703.351005586]: manipulator[RRTstarkConfigDefault]: Created 82 new states. Checked 912 rewire options. 0 goal states in tree.
[ INFO] [1507280703.356613843]: ProblemDefinition: Adding approximate solution from planner manipulator[RRTstarkConfigDefault]
[ INFO] [1507280703.356692535]: manipulator[RRTstarkConfigDefault]: Created 144 new states. Checked 1839 rewire options. 0 goal states in tree.
[ INFO] [1507280703.360130203]: ProblemDefinition: Adding approximate solution from planner manipulator[RRTstarkConfigDefault]
[ INFO] [1507280703.360175768]: manipulator[RRTstarkConfigDefault]: Created 130 new states. Checked 1618 rewire options. 0 goal states in tree.
[ INFO] [1507280703.360449584]: ProblemDefinition: Adding approximate solution from planner manipulator[RRTstarkConfigDefault]
[ INFO] [1507280703.360471566]: manipulator[RRTstarkConfigDefault]: Created 85 new states. Checked 954 rewire options. 0 goal states in tree.
[ INFO] [1507280703.360524287]: ProblemDefinition: Adding approximate solution from planner PathHybridization
[ INFO] [1507280703.360546064]: ParallelPlan::solve(): Solution found by one or more threads in 5.009625 seconds
[ WARN] [1507280703.360576465]: Computed solution is approximate
[ INFO] [1507280703.360592002]: Unable to solve the planning problem
[ INFO] [1507280703.384498521]: ABORTED: No motion plan found. No execution attempted.
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Help with procedure for simple pick and place task using MoveIt!
Greetings. In order to move forward with a pick-and-place task using kinetic, I'd like your help to understand the procedure I should employ. Describing the project is my first aim and then I ask for your input.
The manipulator is a UR 10 mounted on an AMR. For the Gazebo simulation, the end-of-arm has a Kinect model and a primitive, 1-DOF gripper. Our task is to pick up a cylindrical (tubular?) object and hang it on a peg. The current step I'd like to accomplish is to grab a tube by placing the gripper above it (pictured in the two images), open the gripper, move along the cylinder axis until the gripper is at the midpoint of the object, and then close the gripper.
The motion along the cylinder axis does not complete; it stops at the point when the gripper would collide with the Octomap voxels as shown in this image.
It seems the pick and place pipeline (that's me using jargon I'm uncertain about) is unnecessarily complicated for this task; both the gripper and grasped object are very simple. Note that the cylinder in the screenshots is really a stack of two objects; that is, the object is only half as long as it looks in these pictures.
I'm using Python and thus `moveit_commander`. My guess for how to proceed is to call [add_box](http://docs.ros.org/kinetic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html#a1db6e918e333f5c1079c4744ea40045e) (or [add_mesh](http://docs.ros.org/kinetic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html#af57e2069f27f667144fa721c7ef8e5b6)), get the gripper in position and close it, then call [attach_box](http://docs.ros.org/kinetic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html#a02e8310921eda8fcdeba27ea9b15e006) and I'm good to go? Is there a step I'm missing for having MoveIt! ignore collisions between the gripper and the object?
A seemingly unimportant question is what's up with the original state of my robot not being erased from RVIZ as shown in that middle picture?
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run RViz under ssh but return an error"MoveItSimpleControllerManager: Action client not connected: /joint_trajectory_action"
I am using ssh to connect two computer under one ROS system. and I am using Moveit! plugin to plan path.but when I launch it, an error occurs
"MoveItSimpleControllerManager: Action client not connected: /joint_trajectory_action"
but when I do not launch SSH, it can work well.
So I suppose it's because of ssh. Maybe ip I am not sure.
Any comment will be appreciated. Thanks.
↧
using RViz under ssh but error occured "MoveItSimpleControllerManager: Action client not connected: /joint_trajectory_action"
I am using RViz and Moveit under ssh.
I have two PC, one is Robot-pc PC-1 and the other is my private pc PC-2
I set PC-2 as the master pc . Actually I want to set the other one but after ssh with same command PC-2 can work well but PC-1 can't. And when I launch RViz under ssh with PC-1, I have no problem but by PC-2 I have errors .
"MoveItSimpleControllerManager: Action client not connected: /joint_trajectory_action"
it is the same file I launched.
any comment will be appreciated.
Thanks!
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Moveit rviz plugin generates invalid quaternion
Hi together,
I'm trying to setup Moveit for a custom robot arm. Basically everything is working, but when running the demo generated by MoveIt! Setup Assistant I am getting a weird message from Rviz:
[DEBUG] [1523088247.990100347]: Quaternion [x: 1,000, y: 0,000, z: 0,000, w: 1,000] not normalized. Magnitude: 1,414
[ WARN] [1523088247.990177816]: Interactive marker 'EE:goal_tool0' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[DEBUG] [1523088247.990237873]: Interactive marker 'EE:goal_tool0' contains unnormalized quaternions.
I can't understand where this is coming from. I use a custom IK plugin, but it only computes the joint angles, not the actual poses. IK still works correctly when moving around the interactive marker in Rviz.
The problem now is that when I add gripper joints and links to tool0 link, Rviz immediately crashes as soon as I move the goal interactive marker of the Moveit plugin.
What could be the issue here? My URDF is just a chain of links and revolute joints. The last link "link6" is connected to "tool0" by a fixed joint.
My move group in SRDF is this:
group name="arm">
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ROS Industrial and Moveit installation
Are there special instructions to install ROS-Industrial? Is there a step by step process to follow to first install ROS then Industrial and then Moveit?
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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?
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My MoveIt planned robot moves with rviz but not in gazebo
Hello, i used moveit setup assistant to generate config and controller manager files of my robot as it is requested here to work with gazebo :
http://picknik.ai/moveit_wiki/index.php?title=PR2/Gazebo/Quick_Start
and then when i launch both gazebo and rviz, i am able to move my arm depending on where i move the blue ball in rviz. But gazebo doesn't follow...
----------
Also i have an error displayed in the gazebo dedicated shell :
ERROR: cannot launch node of type [play_motion/play_motion]: play_motion ,
A warning about a root link base_link which has an inertia in the URDF that KDL doesn't like,
A deprecation warning that the parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution', please adjust
Some not fatal error about a camera service but we don't care,
AND ANYWAY it goes through the initialization and tells me that i can start planning now.
----------
By the side of the rviz dedicated shell :
a deprec warning : trajectory execution service is deprecated (was replaced by an action). Please replace 'MoveGroupExecutiveService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
and a warning about EE:goal_grasping_frame which contains unnormalized quaternions, please enable DEBUG messages for ros.rviz.quaternions to see more details.
----------
Also here is the rqt_graph :
http://www.allo-image.net/image-203252-Rosgraph.html
and some lists of what rostopic rosnode is running :
https://www.petit-fichier.fr/2018/05/10/debug/
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↧
Moveit rviz plugin generates invalid quaternion
Hi together,
I'm trying to setup Moveit for a custom robot arm. Basically everything is working, but when running the demo generated by MoveIt! Setup Assistant I am getting a weird message from Rviz:
[DEBUG] [1523088247.990100347]: Quaternion [x: 1,000, y: 0,000, z: 0,000, w: 1,000] not normalized. Magnitude: 1,414
[ WARN] [1523088247.990177816]: Interactive marker 'EE:goal_tool0' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[DEBUG] [1523088247.990237873]: Interactive marker 'EE:goal_tool0' contains unnormalized quaternions.
I can't understand where this is coming from. I use a custom IK plugin, but it only computes the joint angles, not the actual poses. IK still works correctly when moving around the interactive marker in Rviz.
The problem now is that when I add gripper joints and links to tool0 link, Rviz immediately crashes as soon as I move the goal interactive marker of the Moveit plugin.
What could be the issue here? My URDF is just a chain of links and revolute joints. The last link "link6" is connected to "tool0" by a fixed joint.
My move group in SRDF is this:
group name="arm">
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Force/torque values while planning trajectories in MoveIt Motion Planner
I am using MoveIt to plan trajectories for my simple robotic arm (3 DOF). I have a force_torque sensor gazebo plugin inside my urdf that can publish force/torque values in one of the joints of the arm. Now while planning a trajectory for the arm in MoveIt, I want to know what is the torque in that joint. If the torque is less than a specified value, I want to go ahead and execute the planning; if not, don't execute the planning.
I know that once I execute the planning and simulate in gazebo, I can get the torque values from the force_torque rostopic published by the gazebo sensor plugin. But can I get that info while planning. Does the MoveIt planning publish or store that info somewhere?
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Error in Planning group with MoveIt! Setup Assistant
Hey!
I had successfully created a working URDF file for the UR5 robot with a Kinect sensor attached to the end-effector. I have verified the URDF file using check_urdf. I wished to use the URDF file with Gazebo as well as RViz, for which I was following [this link](https://github.com/AS4SR/general_info/wiki/ROS-MoveIt!-and-Gazebo-Integration-(WIP)). I am using ROS Kinetic with Ubuntu 16.04.
For creation of the ROS MoveIt!, I was referring to [MoveIt setup assistant tutorial](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html), [this tutorial](http://www.theconstructsim.com/ros-moveit/) and [the ROS Industial tutorial](http://ros-industrial.github.io/industrial_training/_source/session3/Build-a-Moveit!-Package.html).
I have created the self-collision matrix and the virtual joints as per the ROS-I tutorial. The ROS-I suggested that I add the planning group with the name 'manipulator' and by adding a Kinematic chain from the base_link to the tool0 (end-effector) link. However when I try to add robot poses with this planning group, I get this following error message.
> Unable to find joint model group for group: manipulator Are you sure this group has associated joints/links?
Because of this, I was not able to visualise the joint motions as well as set a pose. Any particular reason for this error? I have attached the related pictures for reference. Thanks in advance.
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MoveItCommanderException: Error setting joint target. Is the target within bounds?
Hey guys,
I have a 5 DOF arm. I am controlling it with an XBOX 360 controller.
Now, the maximum limits my arm can reach is +/-3.1 radians. As soon as it reaches either of the limitations, it throws the following error:
[ERROR] [1526221188.380066]: bad callback:
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback
cb(msg)
File "/home/kashyap/catkin_ws/src/igus_trajectory_planning/scripts/set_joy.py", line 123, in callback
group1.set_joint_value_target(group1_variable_values)
File "/home/kashyap/catkin_ws/src/moveit/moveit_commander/src/moveit_commander/move_group.py", line 227, in set_joint_value_target
raise MoveItCommanderException("Error setting joint target. Is the target within bounds?")
MoveItCommanderException: Error setting joint target. Is the target within bounds?
In my code, i am trying to print 'position not reachable' when it reaches either of the 2 extremes. Any suggestions as to how can I avoid the long error message from above in favour of 'position not reachable' ?
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MoveIt motionplanning and gripper_action
Hello guys,
I'm writing on my bachelor thesis and I've got some problems according to moveIt and it's implemention.
I managed to write a controller and action_server for moveing the arm by analyzing the FollowjointTrajectory_msgs and now I want to implement the gripper.
I allready wrote a SimpleActionServer for the Gripper using the GripperCommand but I don't know how to send the Pick/Place request without using Gazebo.
Till now I roslaunch the move_group, moveit_rviz, the actionservers and my node to connect the arm via ethernet.
How can I generate a manipulatable Object in RVIZ which I can pick/place?
Thank you in advance
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Position Constraints Moveit! msg
After motion planning is successfully written following Moveit! tutorials, the resulting motion plan is sometimes strange, for example: the end effector goes in the -z direction of the world frame which is not possible in reality. in order to prevent this position constraints should be added, however i dont quite understand how to fill the Position constraint msg since it has moveit_msgs/BoundingVolume which contains shape_msgs/SolidPrimitive[] to be added.
I dont understand should i create some primitives and add them to all of the negative z direction of the world frame or is there something else i dont understand ??
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Moveit, adding fixed joint to an arm
Hello,
I am trying to modify my arm and put a sensor on the tip, but when I try to move my arm using RVIZ moveit plugin, it cannot plan trajectory and move my arm in gazebo. I have tried it with iiwa stack and also with ur10. Added object type does not make a difference, even if I fix simple cube to one of arm parts, I get the same result.
When I move tip of an arm in RVIZ, movement of "shadow" arm is very chaotic, not as smooth as it was before adding a fixed object into and arm. Are there any other config files to modify with my added link/joint?
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Unable to run moveit because of assimp packages
When I try to run `roslaunch baxter_moveit_config demo_baxter.launch`, I get the error
`/opt/ros/indigo/lib/rviz/rviz: symbol lookup error: /opt/ros/indigo/lib/libgeometric_shapes.so: undefined symbol:
_ZN6Assimp8Importer18SetPropertyIntegerEPKciPb`
and it crashes. These are my assimp packages:
$ apt list --installed | grep assimp
assimp-utils/trusty,now 3.0~dfsg-2 amd64 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp-dev/trusty,now 3.2~dfsg-3~urp8+1 amd64 [installed]
libassimp-doc/trusty,now 3.0~dfsg-2 all [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp3/trusty,now 3.2~dfsg-3~urp8+1 amd64 [installed,automatic]
python-pyassimp/trusty,now 3.2~dfsg-3~urp8+1 all [installed]
I tried to solve it according to a [previous thread](https://answers.ros.org/question/266321/symbol-lookup-error-libgeometry_shapeso-undefined-symbol-_zn6assimp8importer18setpropertyintegerepkcipb/) but the mentioned solution did not work.
Any help? I feel like I have tried everything that I could but keep going in circles...
EDIT: This is what I did previously:
My assimp libraries were too high, so i reverted them to 3.0 manually (I downloaded the .deb file from launchpad and installed them using dbpk)
$ apt list --installed | grep assimp
assimp-utils/trusty,now 3.0~dfsg-2 amd64 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp-dev/trusty,now 3.0~dfsg-2 amd64 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp-doc/trusty,now 3.0~dfsg-2 all [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp3/trusty,now 3.0~dfsg-2 i386 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
python-pyassimp/trusty,now 3.0~dfsg-2 all [installed,upgradable to: 3.2~dfsg-3~urp8+1]
However, once that was done, I would get this error message when starting rviz:
`/opt/ros/indigo/lib/rviz/rviz: error while loading shared libraries: libassimp.so.3: wrong ELF class: ELFCLASS32`
since this didnt work, I did a sudo apt-get -f install again and ended up with the 3.2 assimp versions as mentioned above.
↧
↧
Joystick Code for Articulated Robot using MoveGroup
Hello experimented ROS user,
I have been trying to develop a teleop code similar to: [Turtle_teleop_joy.cpp](http://wiki.ros.org/joy/Tutorials/WritingTeleopNode).
The robot succesfully moves, plans and executes trajectories using the same constructor we initialize in [move_group_interface_tutorial.cpp](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html), in the RVIZ tutorials/documentation.
However, each time I click on one of the buttons or axes, my program initializes/load the entire MoveGroup action.
Here's the code:
#include
#include
#include
#include
#include
class TeleOpBlanqui
{
public:
TeleOpBlanqui();
private:
void joyCallback(const sensor_msgs::Joy::ConstPtr& msg);
ros::NodeHandle nh_;
ros::Subscriber sub;
int a;
};
TeleOpBlanqui::TeleOpBlanqui():
a(1)
{
sub = nh_.subscribe("joy", 1000, &TeleOpBlanqui::joyCallback, this);
}
void TeleOpBlanqui::joyCallback (const sensor_msgs::Joy::ConstPtr& msg)
{
if(msg->axes[1] == 1){
ros::AsyncSpinner spinner(1);
spinner.start();
moveit::planning_interface::MoveGroup group("R1");
geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = 1.0;
target_pose1.position.x = group.getCurrentPose().pose.position.x + 0.01;
target_pose1.position.y = group.getCurrentPose().pose.position.y;
target_pose1.position.z = group.getCurrentPose().pose.position.z;
group.setPoseTarget(target_pose1);
moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = group.plan(my_plan);
group.move();
bool success2 = group.move();
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "teleop_blanqui");
TeleOpBlanqui teleop_blanqui;
ros::spin();
}
And here's a bit of my terminal on the problem I am describing.
[ INFO] [1523987544.250650398]: Ready to take MoveGroup commands for group R1.
[ INFO] [1523987545.013332403]: TrajectoryExecution will use new action capability.
[ INFO] [1523987545.013401146]: Ready to take MoveGroup commands for group R1.
[ INFO] [1523987546.085418516]: TrajectoryExecution will use new action capability.
[ INFO] [1523987546.085479214]: Ready to take MoveGroup commands for group R1.
[ INFO] [1523987547.087559814]: TrajectoryExecution will use new action capability.
[ INFO] [1523987547.087696807]: Ready to take MoveGroup commands for group R1.
[ INFO] [1523987548.905201259]: TrajectoryExecution will use new action capability.
[ INFO] [1523987548.905298749]: Ready to take MoveGroup commands for group R1.
I initialized the variables `int a;` because the program would throw a compilation error if I didn't gave parameters.
Also, I have a larger and more complete code with all of the axes and buttons of the Joystick, however I don't consider relevant uploading the whole thing since it's just the same code, with other increments/decrements in positions.
I want the MoveGroup to load one time and be able to move the robot on real time.
I am open to new suggestions.
I am using Indigo on Ubuntu 14.04
↧
Unable to run moveit because of assimp packages
When I try to run `roslaunch baxter_moveit_config demo_baxter.launch`, I get the error
`/opt/ros/indigo/lib/rviz/rviz: symbol lookup error: /opt/ros/indigo/lib/libgeometric_shapes.so: undefined symbol:
_ZN6Assimp8Importer18SetPropertyIntegerEPKciPb`
and it crashes. These are my assimp packages:
$ apt list --installed | grep assimp
assimp-utils/trusty,now 3.0~dfsg-2 amd64 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp-dev/trusty,now 3.2~dfsg-3~urp8+1 amd64 [installed]
libassimp-doc/trusty,now 3.0~dfsg-2 all [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp3/trusty,now 3.2~dfsg-3~urp8+1 amd64 [installed,automatic]
python-pyassimp/trusty,now 3.2~dfsg-3~urp8+1 all [installed]
I tried to solve it according to a [previous thread](https://answers.ros.org/question/266321/symbol-lookup-error-libgeometry_shapeso-undefined-symbol-_zn6assimp8importer18setpropertyintegerepkcipb/) but the mentioned solution did not work.
Any help? I feel like I have tried everything that I could but keep going in circles...
EDIT: This is what I did previously:
My assimp libraries were too high, so i reverted them to 3.0 manually (I downloaded the .deb file from launchpad and installed them using dbpk)
$ apt list --installed | grep assimp
assimp-utils/trusty,now 3.0~dfsg-2 amd64 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp-dev/trusty,now 3.0~dfsg-2 amd64 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp-doc/trusty,now 3.0~dfsg-2 all [installed,upgradable to: 3.2~dfsg-3~urp8+1]
libassimp3/trusty,now 3.0~dfsg-2 i386 [installed,upgradable to: 3.2~dfsg-3~urp8+1]
python-pyassimp/trusty,now 3.0~dfsg-2 all [installed,upgradable to: 3.2~dfsg-3~urp8+1]
However, once that was done, I would get this error message when starting rviz:
`/opt/ros/indigo/lib/rviz/rviz: error while loading shared libraries: libassimp.so.3: wrong ELF class: ELFCLASS32`
since this didnt work, I did a sudo apt-get -f install again and ended up with the 3.2 assimp versions as mentioned above.
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Generate trajectory with moveIt based on sensor inputs
Hey there,
I would like to ask if it is possible to use MoveIt and generate a trajectory control law.
I would like to be able to write some Cpp Code using the MoveIt Library and some sensor Input topics (img or point clouds) and control according to these sensor inputs the endefector [of this kuka arm.](https://github.com/CesMak/kuka_arm)
Now what I already achieved was to connect RVIZ (moveIt) and gazebo. You also can check this out by checking [this link.](https://github.com/CesMak/kuka_arm) I am able to plan and execute a trajectory in moveit and it also will be executed in gazebo.
Now if somebody knows some examples on **how to control a trajectory with moveit library based on sensor input** I would be glat to here them.
Meanwhile I read [here](https://moveit.ros.org/documentation/concepts/):
> move_group talks to the robot through
> ROS topics and actions. It
> communicates with the robot to get
> current state information (positions
> of the joints, etc.), to get point
> clouds and other sensor data from the
> robot sensors and to talk to the
> controllers on the robot.
>> Controller Interface
>> move_group talks to the controllers on
> the robot using the
> FollowJointTrajectoryAction interface.
> This is a ROS action interface. A
> server on the robot needs to service
> this action - this server is not
> provided by move_group itself.
> move_group will only instantiate a
> client to talk to this controller
> action server on your robot.
If I also start my current kuka arm via:
roslaunch kuka_kr5_gazebo rviz_connected_with_gz_using_moveit.launch
I use currently these action server topics to connect rviz with gazebo:
/arm_controller/command
/arm_controller/follow_joint_trajectory/cancel
/arm_controller/follow_joint_trajectory/feedback
/arm_controller/follow_joint_trajectory/goal
/arm_controller/follow_joint_trajectory/result
/arm_controller/follow_joint_trajectory/status
should I also use this action server to execute a continuous trajectory with it according to my sensor input?
rostopic info /arm_controller/follow_joint_trajectory/goal
Type: control_msgs/FollowJointTrajectoryActionGoal
Publishers:
* /move_group (http://markus:44193/)
Subscribers:
* /gazebo (http://markus:46419/)
I also have several more topics running (just for additional information)
/joint_states
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
I just found some sources which do similar things I wanna do:
http://wiki.ros.org/robotican/Tutorials/Arm%20manipulation
http://wiki.ros.org/Industrial/Tutorials
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