Hello All ,
I generated a set of waypoints in Matlab (rotation and translation), read them into moveit's cartesian planner, and requested a trajectory to be displayed in rviz.
This trajectory is not completing due to either the placement of the "waypoint frame" (frame waypoints were generated in) with respect to the "path frame" (frame that moveit's cartesian planner is in).
The waypoint trajectory I generated was a small circle about the X/Y/Z plane. I have previously generated straight lines, which work fine.
I also have a problem where the planner does not pick elbow up configurations, and defaults to elbow down configurations.
Does anybody have any insight on how to solve this problem?
I am using IKFast kinematics solver
↧
Cartesian Planner not completing path,
↧
[MoveIt!] Set goal orietation tolerance when using pick action
I'm trying to use the pick action server to pick an object on the scene and it fails with the following message:> Orientation constraint violated for> link 'gripper_link'. Quaternion> desired: 0.000251 0.368719 -0.000620> 0.929541, quaternion actual: 0.346082 0.654111 -0.471797 0.479346, error: x=1.426828, y=0.289044, z=1.100188,> tolerance: x=0.010000, y=0.010000,> z=0.010000
That said I tried to use the set_goal_orientation_tolarance() from python moveit commander. Unfortunately, it doesn't affect the pick action server, as the same error occurs. As complicated as it gets on [this old post](https://groups.google.com/d/msg/moveit-users/-Eie-wLDbu0/IEx4w7hRmboJ) mentions
> "setGoalOrientationTolerance only> affects pose goals, but not joint> (obviously) nor pickup and place> goals"
So, how can I set the orientation tolerance for pick and place actions ?
↧
↧
Fail: ABORTED: No motion plan found. No execution attempted
I have used moveit api but with function "group.setPoseTarget(pose1)" it give " Fail: ABORTED: No motion plan found. No execution attempted" and at terminal of rviz it give
[ INFO] [1469775045.492605776]: LBKPIECE1: Created 1 (1 start + 0 goal) states in 1 cells (1 start (1 on boundary) + 0 goal (0 on boundary))
[ INFO] [1469775045.492659516]: No solution found after 5.050528 seconds
[ INFO] [1469775045.528370905]: Unable to solve the planning problem
[ INFO] [1469775050.530937767]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1469775051.139609983]: Planning attempt 1 of at most 1
[ INFO] [1469775051.169520219]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ERROR] [1469775056.175594376]: LBKPIECE1: Unable to sample any valid states for goal tree
[ INFO] [1469775056.175806507]: LBKPIECE1: Created 1 (1 start + 0 goal) states in 1 cells (1 start (1 on boundary) + 0 goal (0 on boundary))
[ INFO] [1469775056.175905203]: No solution found after 5.006600 seconds
[ INFO] [1469775056.185580711]: Unable to solve the planning problem
can any one tell me how to solve this problem?
↧
moveit error ABORTED: No motion plan found. No execution attempted.
Hello,
I’m using moveit c++ interface in order to send a cartesian pose to the gazebo simulated robot.
Below is the code which i’m using to send the pose, the mentioned pose is retrived from gazebo by calling gazebo/get_model_state service hence pose is accurate.
This pose is definately reachable as i have planend simular pose for gazebo simulated robot using rviz gui + moveit plugin.
When i use rviz gui to generate any pose and plan+execute it, there is no error. When i use moveit c++ interface there will be error saying ABORTED: No motion plan found. No execution attempted..
code:
#include
#include
int main(int argc, char** argv)
{
ros::init(argc, argv, "moveit_interface");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
static const std::string PLANNING_GROUP = "panda_arm";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
//setting up movegroup class
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
const robot_state::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
move_group.setPlanningTime(10);
// Planning to a Pose goal
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::Pose target_pose1;
target_pose1.orientation.x = 0.001775;
target_pose1.orientation.y = 0.026732;
target_pose1.orientation.z = -0.994314;
target_pose1.orientation.w = -0.994314;
target_pose1.position.x = 0.397817;
target_pose1.position.y = 0.913696;
target_pose1.position.z = 0.810213;
move_group.setPoseTarget(target_pose1);
//call the planer to plan the myplan
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
//moving to pose goal
move_group.move();
ros::shutdown();
return 0;
}
↧
Can MoveIt create plans for future move group states?
I'm currently working to optimize the cycle time of a repeated set of arm movements. We're using MoveIt to plan and execute trajectories in C++. It can take up to half a second to plan and optimize a trajectory using the MoveGroupInterface::plan function and I'd like to parallelize this since the start state of the next move is known ahead of time if the current move is successful.
Is it possible to specify a start joint state and request a plan from that start state to an end state/pose, and if so how is this done?
↧
↧
Errors with Informed RRT* OMPL Planner in MoveIt! with Baxter
I'm using ROS Kinetic with a Baxter Gazebo simulator and the baxter_moveit_config package, running on Ubuntu 16.04 with kernel 4.15.0-42-generic. I have OMPL version 1.4.2 and MoveIt! kinetic-devel branch both installed from source.
I am working on motion planning experiments on the simulated Baxter robot in MoveIt, using various OMPL default planners. So far I have had success registering and running planning tests in my various environments using RRT-Connect, RRT*, and BIT*. Today I went to try and start testing Informed RRT* by registering it as a new default planner in MoveIt, and updating my Baxter ompl_planning.yaml file accordingly. The catkin workspace builds fine and I can launch the whole planning scene using the usual baxter_grippers.launch file in the baxter_moveit_config package. Informed RRT* is successfully loaded as the planner that will be used for any motion plan requests.
However, when I try to create a planning request from the MoveitCommander Python API (as I have for all my tests) I get a variety of ROS Error messages in the console and the planner immediately returns a failure and moves on to the next planning request. Strangely, this behavior is not consistent -- MoveIt is occasionally able to successfully start and complete a full motion plan request with Informed RRT*, about 10% of the time. I cannot currently see any correlation with the planning requests where it succeeds versus where it fails and throws errors.
Below are some examples of the errors and warnings I obtain (in no particular order, these all show up somewhat randomly and the errors all cause the planner to fail).
[ERROR] [1550708380.811518404, 19661.729000000]: Exception caught executing *next* adapter 'Fix Start State Bounds': PathLengthDirectInfSampler: There must be at least 1 start and and 1 goal state when the informed sampler is created.
[ERROR] [1550708380.800947757, 19661.720000000]: Exception caught executing *final* adapter 'Fix Start State Path Constraints': PathLengthDirectInfSampler: There must be at least 1 start and and 1 goal state when the informed sampler is created.
[ERROR] [1550708380.790290485, 19661.711000000]: Exception caught executing *next* adapter 'Fix Start State In Collision': PathLengthDirectInfSampler: There must be at least 1 start and and 1 goal state when the informed sampler is created.
[ERROR] [1550708380.775913789, 19661.698000000]: Exception caught executing *next* adapter 'Fix Workspace Bounds': PathLengthDirectInfSampler: There must be at least 1 start and and 1 goal state when the informed sampler is created.
[ERROR] [1550713422.840970844, 61.159000000]: InformedRRTstar: There are no valid initial states!
[ WARN] [1550713422.840896038, 61.159000000]: InformedRRTstar: Skipping invalid start state (invalid bounds)
[ WARN] [1550713422.743253679, 61.071000000]: Goal sampling thread never did any work.
They all generally have to do with the MoveIt planning adapters and the start state of the robot. However, throughout all of my experiments I have used exactly the same start state (the neutral pose the Baxter starts in when the Gazebo world is launched) and it has never had an issue when using the other planners. I have also tried running this test after manually moving the start state to a few different configurations and the errors persist. Clearly the planner is not being set up properly in each of these cases. However, below is an example of the console output when the planner works as expected.
[ INFO] [1550713417.195105342, 55.565000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1550713417.195209687, 55.565000000]: Starting state is just outside bounds (joint 'right_s1'). Assuming within bounds.
[ INFO] [1550713417.196379665, 55.566000000]: Planner configuration 'right_arm' will use planner 'geometric::InformedRRTstar'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1550713417.196687350, 55.567000000]: InformedRRTstar: problem definition is not set, deferring setup completion...
[ INFO] [1550713417.196966267, 55.567000000]: InformedRRTstar: Using informed sampling.
[ INFO] [1550713417.211630536, 55.582000000]: InformedRRTstar: Started planning with 1 states. Seeking a solution better than 0.00000.
[ INFO] [1550713417.211670248, 55.582000000]: InformedRRTstar: Initial k-nearest value of 607
[ INFO] [1550713419.378140552, 57.737000000]: InformedRRTstar: Found an initial solution with a cost of 17.62 in 3006 iterations (1156 vertices in the graph)
[ INFO] [1550713422.199787949, 60.550000000]: InformedRRTstar: Created 2519 new states. Checked 1906784 rewire options. 10 goal states in tree. Final solution cost 17.276
[ INFO] [1550713422.199839747, 60.550000000]: Solution found in 5.003105 seconds
[ INFO] [1550713422.244673189, 60.595000000]: SimpleSetup: Path simplification took 0.044764 seconds and changed from 5 to 6 states
[ INFO] [1550713422.246356340, 60.596000000]: Planning adapters have added states at index positions: [ 0 ]
If anyone has an idea of where these issues may be coming from, and advice as to how I can fix them and use the OMPL implementation of Informed RRT* with MoveIt I will very much appreciate it.
↧
moveit c++ interface- unexpected robot movement
Hello,
I’m trying to implement pick and place with moveit and gazebo. i have gazebo simulated robot and i’m sending cartesian pose through moveit’s c++ interface.
at initial stage i want my robot to approach the block, i have fetched the pose of the robot from gazebo by calling the service get_model_state, and i have fed it to the moveit c++ interface program.
i expect robot to move to the object but robot moves in exact opposite direction. can anyone explain this behaviour and what i’m doing wrong?
Below you will find:
**Image of robot and object that i want to approach**
**Pose retrieved from gazebo**
position_x=0.871467
position_y=-0.076430
position_z=0.295392
orientation_x=0.002768
orientation_y=-0.003604
orientation_z=0.003009
orientation_w=0.999985
**below is the code i’m using**
int main(int argc, char** argv)
{
ros::init(argc, argv, "moveit_interface");
ros::NodeHandle node_handle;
ros::AsyncSpinner spinner(1);
spinner.start();
static const std::string PLANNING_GROUP = "panda_arm";
moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
//setting up movegroup class
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
const robot_state::JointModelGroup* joint_model_group =
move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);
move_group.setPlanningTime(15);
// Planning to a Pose goal
// We can plan a motion for this group to a desired pose for the
// end-effector.
geometry_msgs::Pose target_pose1;
target_pose1.orientation.x = 0.002768;
target_pose1.orientation.y = -0.003604;
target_pose1.orientation.z = 0.003009 ;
target_pose1.orientation.w = 0.999985;
target_pose1.position.x = 0.871467;
target_pose1.position.y = -0.076430;
target_pose1.position.z = 0.295392;
move_group.setApproximateJointValueTarget(target_pose1, "panda_link7");
//move_group.setPoseTarget(target_pose1);
//call the planer to plan the myplan
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
//moving to pose goal
move_group.move();
ros::shutdown();
return 0;
}
**Update 1**
Reference frames of object and robot
↧
Velocity control
Hello,
I use ur10 with moveit. I would like to play with velocity slower or faster. Therefore, how can i do it? Thank you.
↧
Cannot add mesh files to moveit!
I'm trying to add the mesh files to moveit! in ROS kinetic for baxter robot. I'm using python code to implement it. I used this below function to add the mesh file
scene.add_mesh("pin",pin_pose,resourcepath '/objects/Pin.stl')
And I have also used
scene.add_box("box", box_pose, (0.001, 0.001, 0.05))
for adding the small box. My problem is,the box is added,but the mesh file is not. I'm getting segmentation fault(core dumped) error, when it tries to execute the addmesh line. I have tried with different .stl files and also with .dae files. At the same time, I can import this same .stl file directly in moveit!. I don't know what is the reason for the segfault. Can someone help to resolve this error?
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
↧
↧
Stop trajectory for motoman robot
I am trying to use `stop` function for motoman robot, but it does not work when connected with real robot. I do:
move_group.setJointValueTarget(target_joints);
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
if(success)
{
ROS_INFO("Moving");
move_group.asyncExecute(my_plan);
ros::Duration(0.5).sleep();
ROS_INFO("Stopping");
move_group.stop();
}
If I test above code with `demo.launch`, the trajectory is planned, the robot lightly moves and then it stops. But if I connect to real robot and run the code, whole trajectory is executed.
How could I stop the real robot?
↧
Orientation to grasp object from y axis
Hello,
I’m trying to achieve pick and place in gazebo by sending trajectory from moveit.
I noticed in moveit pick and place tutorial that orientation is given as follows:
orientation.setRPY(-M_PI / 2, -M_PI / 4, -M_PI / 2)
This orientation tries to pick the object from x-axis direction ( considering x axis is forward, y axis is pointing to the left and z axis is upwards.) Below image demonstartes how my robot arm positions itself when given above orienatation
I want to grasp the object from y axis side i.e parallel to the yellow axis shown in the image. What can be the orientation of the robot??
I have came till this orientation:
orientation.setRPY(-M_PI / 4, -M_PI/2 , -M_PI /4)
below is the image representing robot arm with this orientation.
if you see then gripper is still inclined and not exactly horizontal.
can anyone tell me what can be orientation to grasp the object from y axis direction??
↧
Can somebody help me with IndexError problem?
Hello, right now i am doing my project which is a 3 d printed arm robot and connected to my laptop using USB2dynamixel. I want to control this robot using MoveIt, but everytime I want to launch the robot_state.launch, this error always comes up
[ERROR] [1551179662.216765]: 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/richard/robot_ws/src/dxl_tutorial/scripts/state_publisher.py", line 37, in process
joint_states.position.append((x.position-offset[x.id-1])*(300.0/1023)*(pi/180))
IndexError: list index out of range
I have already checked the state_publisher.py, but it seems like there is nothing wrong there. Can somebody please give some advice? I am also new to ROS.
↧
problem in Moveit Tutorials step: MoveGroup interface Tutorial
My distro of ROS is kinetic. I followed the lastest moveit tutorial:
http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html
When I run the command
roslaunch moveit_tutorials move_group_interface_tutorial.launch
I meet the error
process[move_group_interface_tutorial-1]: started with pid [5502]
/home/qiuyilin/ROSSP/ws_moveit/devel/lib/moveit_tutorials/move_group_interface_tutorial: error while loading shared libraries: libmoveit_planning_scene_monitor.so.0.9.11: cannot open shared object file: No such file or directory
[move_group_interface_tutorial-1] process has died [pid 5502, exit code 127, cmd /home/qiuyilin/ROSSP/ws_moveit/devel/lib/moveit_tutorials/move_group_interface_tutorial __name:=move_group_interface_tutorial __log:=/home/qiuyilin/.ros/log/1c468b9c-f1ef-11e7-afc5-0028f8fda2a0/move_group_interface_tutorial-1.log].
and when I run
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
it shows my log space is missing.
↧
↧
Move Cartesian with MoveIt
Hello,
i would like to move the robot "Franka Emika Panda" with the cartesian movement in C++. I make the configuration which is recommended on the homepage. My current result is to move the robot with joint movement with moveit. Then I trying the cartesian movement with the following link:
http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html#cartesian-paths
In this section they show how it works with the simulation, but i would like to try this one on the real robot. I hope i can get some tips to solve my problem.
Regards,
Markus
↧
How run multiple move_group for different robots in single system
Hello,
I am trying to simulate in Gazebo multiple robots(KUKA, UR5 and Franka Panda). In a URDF file included all the robot for simulation and using the Moveit made separate arm group of all three robots. Using the Moveit commander, I can control the robot, and it is working fine. Problem is when I am trying to control all the robot at the same time using the Moveit commander. If one robot is working, then another robot will not work even if I command to it. Is there any way I can work all three robots simultaneously.
↧
moveit pick and place
Hello,
I’m trying to implement pick and place using moveit + gazebo. i.e i want to send trajectory planned by moveit to gazebo and see pick and place being demonstrated in gazebo.
My query is related to pick () function of movegroup class. In moveit pick and place tutorial when we call pick function we have to give two arguments i.e object name as string and the grasp message. This can be seen [here](https://github.com/ros-planning/moveit_tutorials/blob/kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp#L137).
I understand that the string input argument is name of the object added in planning scene in RVIZ, in my case i dont want to add any object in planning scene in RVIZ. I have created necessary simulation envirnoment in Gazebo, adding planning scene object in RVIZ is just an overhead for me.
is there any way to use moveit high level APIs of movegroup::pick() and not create planning scene object in RVIZ? or is there any alternative function which doesn’t require the planning scene creation in RVIZ.
Thanks for your time.
↧
moveit segfaults due to eigen
I am running ros melodic on an up to date unstable x86_64 gentoo with ebuilds from the [ros-overlay](https://github.com/ros/ros-overlay). As far as I am aware the last update of the ebuilds was three days ago. I tested with moveit-0.10.0 as well as the recently released moveit-1.0.0.
So far I have tested gcc-7.3.0, gcc-7.4.0, gcc-8.2.0 and gcc-8.3.0 with binutils-2.31.1 and -2.32 with the same results.
I have tested eigen 3.3.4, 3.3.5 and 3.3.7 against gcc-8.3.0, binutils-2.32 and moveit-1.0.0 with the same results.
Either rviz or move_group will crash somewhere in moveit code with segfaults cause by eigen. I have attached a few crash reports with similar failures.
After reading ["Eigen Memory Issues"](https://github.com/ethz-asl/eigen_catkin/wiki/Eigen-Memory-Issues) and ["Explanation of the assertion on unaligned arrays"](http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html) I am aware eigen related segfaults can be caused by mismatched build flags which might be an issue on gentoo. All ros related packages are build with "-O2 -pipe -march=native -mtune=native -Wall -g -ggdb". I also created a local catkin workspace where I rebuild industrial_core, motoman, moveit, moveit_visual_tools and rviz with the same build flags and both -std=c++11 and -std=c++14 with no change in outcome.
I used to be able to run the same commands i tested with eigen-3.2.8 and moveit-0.10.0 but since moveit-1.0.0 requires eigen-3.3 and eigen-3.2 has been deprecated in gentoo I am reluctant to downgrade back to that. Blender and meshlab which also depend on eigen do run without segfaults.
Since I am not fully certain if this is a build system error or an error in moveit I haven't filled an issue on github yet.
When i compile moveit_core with "-Wall" set I get this suspicious warning:
/var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_state/src/robot_state.cpp: In member function 'void moveit::core::RobotState::copyFrom(const moveit::core::RobotState&)':
/var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_state/src/robot_state.cpp:161:79: warning: 'void* memcpy(void*, const void*, size_t)' writing to an object of type 'Eigen::Isometry3d' {aka 'class Eigen::Transform'} with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
memcpy(variable_joint_transforms_, other.variable_joint_transforms_, bytes);
^
In file included from /usr/include/eigen3/Eigen/Geometry:44,
from /var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_model/include/moveit/robot_model/joint_model.h:47,
from /var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_model/include/moveit/robot_model/joint_model_group.h:41,
from /var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_model/include/moveit/robot_model/robot_model.h:47,
from /var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_state/include/moveit/robot_state/robot_state.h:41,
from /var/tmp/portage/ros-melodic-moveit_core-1.0.0/work/moveit_core-1.0.0/robot_state/src/robot_state.cpp:38:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:201:7: note: 'Eigen::Isometry3d' {aka 'class Eigen::Transform'} declared here
class Transform
^~~~~~~~~
trace 1:
> roslaunch motoman_sda10f_moveit_config demo.launch
Thread 1 (Thread 0x7f7251ee1240 (LWP 5998)):
[KCrash Handler]
#6 0x00007f72030373f5 in _mm256_store_pd (__A=..., __P=0x55edf39a24d0) at /usr/lib/gcc/x86_64-pc-linux-gnu/8.3.0/include/avxintrin.h:867
#7 Eigen::internal::pstore(double*, double __vector(4) const&) (from=..., to=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:252
#8 Eigen::internal::pstoret(double*, double __vector(4) const&) (from=..., to=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:474
#9 Eigen::internal::assign_op::assignPacket<32, double __vector(4)>(double*, double __vector(4) const&) const (this=, b=..., a=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h:28
#10 Eigen::internal::generic_dense_assignment_kernel>, Eigen::internal::evaluator, Eigen::Matrix>>, Eigen::internal::assign_op, 0>::assignPacket<32, 32, double __vector(4)>(long, long) (this=, this=, col=0, row=0) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652
#11 Eigen::internal::generic_dense_assignment_kernel>, Eigen::internal::evaluator, Eigen::Matrix>>, Eigen::internal::assign_op, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) (inner=0, outer=0, this=) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666
#12 Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling>, Eigen::internal::evaluator, Eigen::Matrix>>, Eigen::internal::assign_op, 0>, 0, 16>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274
#13 Eigen::internal::dense_assignment_loop>, Eigen::internal::evaluator, Eigen::Matrix>>, Eigen::internal::assign_op, 0>, 2, 2>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:468
#14 Eigen::internal::call_dense_assignment_loop, Eigen::CwiseNullaryOp, Eigen::Matrix>, Eigen::internal::assign_op> (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:741
#15 Eigen::internal::Assignment, Eigen::CwiseNullaryOp, Eigen::Matrix>, Eigen::internal::assign_op, Eigen::internal::Dense2Dense, void>::run (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879
#16 Eigen::internal::call_assignment_no_alias, Eigen::CwiseNullaryOp, Eigen::Matrix>, Eigen::internal::assign_op> (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836
#17 Eigen::internal::call_assignment, Eigen::CwiseNullaryOp, Eigen::Matrix>, Eigen::internal::assign_op>(Eigen::Matrix&, Eigen::CwiseNullaryOp, Eigen::Matrix> const&, Eigen::internal::assign_op const&, Eigen::internal::enable_if, Eigen::Matrix>, Eigen::internal::evaluator_traits, Eigen::Matrix>>::Shape>::value, void*>::type) (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804
#18 Eigen::internal::call_assignment, Eigen::CwiseNullaryOp, Eigen::Matrix>> (src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782
#19 Eigen::PlainObjectBase>::_set, Eigen::Matrix>> (other=..., this=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714
#20 Eigen::Matrix::operator=, Eigen::Matrix>> (other=..., this=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/Matrix.h:225
#21 Eigen::DenseBase>::setConstant (val=, this=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h:327
#22 Eigen::DenseBase>::setZero (this=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h:501
#23 Eigen::internal::setIdentity_impl, true>::run (m=...) at /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h:757
#24 Eigen::MatrixBase>::setIdentity (this=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h:776
#25 Eigen::Transform::setIdentity (this=0x55edf39a24d0) at /usr/include/eigen3/Eigen/src/Geometry/Transform.h:533
#26 moveit::core::FixedJointModel::computeTransform (this=0x7f71f4023950, transf=...) at /home/user/test_ws/src/moveit/moveit_core/robot_model/src/fixed_joint_model.cpp:94
#27 0x00007f72030b95e3 in moveit::core::RobotState::getJointTransform (joint=, this=0x55edf2446660) at /home/user/test_ws/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model.h:204
#28 moveit::core::RobotState::updateLinkTransformsInternal (this=this@entry=0x55edf2446660, start=) at /home/user/test_ws/src/moveit/moveit_core/robot_state/src/robot_state.cpp:652
#29 0x00007f72030b9a02 in moveit::core::RobotState::updateLinkTransforms (this=this@entry=0x55edf2446660) at /home/user/test_ws/src/moveit/moveit_core/robot_state/src/robot_state.cpp:616
#30 0x00007f72030b9a9c in moveit::core::RobotState::updateCollisionBodyTransforms (this=0x55edf2446660) at /home/user/test_ws/src/moveit/moveit_core/robot_state/src/robot_state.cpp:587
#31 0x00007f72340ba517 in moveit_rviz_plugin::PlanningSceneDisplay::onRobotModelLoaded (this=0x55edf2ef21f0) at /home/user/test_ws/src/moveit/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp:548
#32 0x00007f72343da74c in moveit_rviz_plugin::MotionPlanningDisplay::onRobotModelLoaded (this=0x55edf2ef21f0) at /home/user/test_ws/src/moveit/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_display.cpp:1123
#33 0x00007f72340bacf3 in boost::function0::operator() (this=0x7ffc57e7ed50) at /usr/include/boost/function/function_template.hpp:673
#34 moveit_rviz_plugin::PlanningSceneDisplay::executeMainLoopJobs (this=0x55edf2ef21f0) at /home/user/test_ws/src/moveit/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp:249
#35 0x00007f72340baf89 in moveit_rviz_plugin::PlanningSceneDisplay::update (this=0x55edf2ef21f0, wall_dt=0.0319799781, ros_dt=0.0319808163) at /home/user/test_ws/src/moveit/moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp:618
#36 0x00007f7259d30a01 in rviz::DisplayGroup::update (this=0x55edf24216c0, wall_dt=0.0319799781, ros_dt=0.0319808163) at /home/user/test_ws/src/rviz/src/rviz/display_group.cpp:240
#37 0x00007f7259df2966 in rviz::VisualizationManager::onUpdate (this=0x55edf2412e20) at /home/user/test_ws/src/rviz/src/rviz/visualization_manager.cpp:353
#38 0x00007f725888a4ce in QMetaObject::activate(QObject*, int, int, void**) () from /usr/lib64/libQt5Core.so.5
#39 0x00007f7258895db7 in QTimer::timeout(QTimer::QPrivateSignal) () from /usr/lib64/libQt5Core.so.5
#40 0x00007f725888b03b in QObject::event(QEvent*) () from /usr/lib64/libQt5Core.so.5
#41 0x00007f72596ef451 in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /usr/lib64/libQt5Widgets.so.5
#42 0x00007f72596f6ad0 in QApplication::notify(QObject*, QEvent*) () from /usr/lib64/libQt5Widgets.so.5
#43 0x00007f7258862f72 in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /usr/lib64/libQt5Core.so.5
#44 0x00007f72588b1079 in QTimerInfoList::activateTimers() () from /usr/lib64/libQt5Core.so.5
#45 0x00007f72588b18d1 in timerSourceDispatch(_GSource*, int (*)(void*), void*) () from /usr/lib64/libQt5Core.so.5
#46 0x00007f725548a84e in g_main_context_dispatch () from /usr/lib64/libglib-2.0.so.0
#47 0x00007f725548aae8 in g_main_context_iterate.isra () from /usr/lib64/libglib-2.0.so.0
#48 0x00007f725548ab7c in g_main_context_iteration () from /usr/lib64/libglib-2.0.so.0
#49 0x00007f72588b1d33 in QEventDispatcherGlib::processEvents(QFlags) () from /usr/lib64/libQt5Core.so.5
#50 0x00007f7251842171 in QPAEventDispatcherGlib::processEvents(QFlags) () from /usr/lib64/libQt5XcbQpa.so.5
#51 0x00007f7258861f4b in QEventLoop::exec(QFlags) () from /usr/lib64/libQt5Core.so.5
#52 0x00007f7258869db2 in QCoreApplication::exec() () from /usr/lib64/libQt5Core.so.5
#53 0x000055edf1a4c1db in main (argc=, argv=) at /home/user/test_ws/src/rviz/src/rviz/main.cpp:42
[Inferior 1 (process 5998) detached]
trace 2:
> roslaunch moveit_visual_tools demo_rviz.launch
Thread 1 (Thread 0x7f7883d6d240 (LWP 2716)):
[KCrash Handler]
#6 0x00007f7839034a3b in _mm256_store_pd (__A=..., __P=) at /usr/lib/gcc/x86_64-pc-linux-gnu/8.3.0/include/emmintrin.h:166
#7 Eigen::internal::pstore(double*, double __vector(4) const&) (from=..., to=) at /usr/include/eigen3/Eigen/src/Core/arch/AVX/PacketMath.h:252
#8 Eigen::internal::pstoret(double*, double __vector(4) const&) (from=..., to=) at /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:474
#9 Eigen::internal::assign_op::assignPacket<32, double __vector(4)>(double*, double __vector(4) const&) const (this=, b=..., a=) at /usr/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h:28
#10 Eigen::internal::generic_dense_assignment_kernel>, Eigen::internal::evaluator>, Eigen::internal::assign_op, 0>::assignPacket<32, 32, double __vector(4)>(long, long) (this=, this=, col=, row=) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:652
#11 Eigen::internal::generic_dense_assignment_kernel>, Eigen::internal::evaluator>, Eigen::internal::assign_op, 0>::assignPacketByOuterInner<32, 32, double __vector(4)>(long, long) (inner=, outer=, this=) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:666
#12 Eigen::internal::copy_using_evaluator_innervec_CompleteUnrolling>, Eigen::internal::evaluator>, Eigen::internal::assign_op, 0>, 0, 16>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:274
#13 Eigen::internal::dense_assignment_loop>, Eigen::internal::evaluator>, Eigen::internal::assign_op, 0>, 2, 2>::run (kernel=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:468
#14 Eigen::internal::call_dense_assignment_loop, Eigen::Matrix, Eigen::internal::assign_op> (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:741
#15 Eigen::internal::Assignment, Eigen::Matrix, Eigen::internal::assign_op, Eigen::internal::Dense2Dense, void>::run (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879
#16 Eigen::internal::call_assignment_no_alias, Eigen::Matrix, Eigen::internal::assign_op> (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836
#17 Eigen::internal::call_assignment, Eigen::Matrix, Eigen::internal::assign_op>(Eigen::Matrix&, Eigen::Matrix const&, Eigen::internal::assign_op const&, Eigen::internal::enable_if, Eigen::internal::evaluator_traits>::Shape>::value, void*>::type) (func=..., src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:804
#18 Eigen::internal::call_assignment, Eigen::Matrix> (src=..., dst=...) at /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:782
#19 Eigen::PlainObjectBase>::_set> (other=..., this=) at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:714
#20 Eigen::Matrix::operator= (other=..., this=) at /usr/include/eigen3/Eigen/src/Core/Matrix.h:208
#21 Eigen::Transform::operator= (other=..., this=) at /usr/include/eigen3/Eigen/src/Geometry/Transform.h:286
#22 moveit::core::FloatingJointModel::computeTransform (this=0x5583d7e89970, joint_values=0x5583d89e2d78, transf=...) at /home/user/test_ws/src/moveit/moveit_core/robot_model/src/floating_joint_model.cpp:220
#23 0x00007f78390b65e3 in moveit::core::RobotState::getJointTransform (joint=, this=0x5583d7dddda0) at /home/user/test_ws/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model.h:204
#24 moveit::core::RobotState::updateLinkTransformsInternal (this=this@entry=0x5583d7dddda0, start=) at /home/user/test_ws/src/moveit/moveit_core/robot_state/src/robot_state.cpp:652
#25 0x00007f78390b6a02 in moveit::core::RobotState::updateLinkTransforms (this=this@entry=0x5583d7dddda0) at /home/user/test_ws/src/moveit/moveit_core/robot_state/src/robot_state.cpp:616
#26 0x00007f78390b6a9c in moveit::core::RobotState::updateCollisionBodyTransforms (this=0x5583d7dddda0) at /home/user/test_ws/src/moveit/moveit_core/robot_state/src/robot_state.cpp:587
#27 0x00007f78682914da in moveit_rviz_plugin::RobotStateDisplay::update (this=0x5583d7e23180, wall_dt=, ros_dt=) at /home/user/test_ws/src/moveit/moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display.cpp:414
#28 0x00007f788bbbca01 in rviz::DisplayGroup::update (this=0x5583d7ef7c20, wall_dt=0.473727763, ros_dt=0.473739237) at /home/user/test_ws/src/rviz/src/rviz/display_group.cpp:240
#29 0x00007f788bc7e966 in rviz::VisualizationManager::onUpdate (this=0x5583d7e05550) at /home/user/test_ws/src/rviz/src/rviz/visualization_manager.cpp:353
#30 0x00007f788a7164ce in QMetaObject::activate(QObject*, int, int, void**) () from /usr/lib64/libQt5Core.so.5
#31 0x00007f788a721db7 in QTimer::timeout(QTimer::QPrivateSignal) () from /usr/lib64/libQt5Core.so.5
#32 0x00007f788a71703b in QObject::event(QEvent*) () from /usr/lib64/libQt5Core.so.5
#33 0x00007f788b57b451 in QApplicationPrivate::notify_helper(QObject*, QEvent*) () from /usr/lib64/libQt5Widgets.so.5
#34 0x00007f788b582ad0 in QApplication::notify(QObject*, QEvent*) () from /usr/lib64/libQt5Widgets.so.5
#35 0x00007f788a6eef72 in QCoreApplication::notifyInternal2(QObject*, QEvent*) () from /usr/lib64/libQt5Core.so.5
#36 0x00007f788a73d079 in QTimerInfoList::activateTimers() () from /usr/lib64/libQt5Core.so.5
#37 0x00007f788a73d909 in idleTimerSourceDispatch(_GSource*, int (*)(void*), void*) () from /usr/lib64/libQt5Core.so.5
#38 0x00007f788731684e in g_main_context_dispatch () from /usr/lib64/libglib-2.0.so.0
#39 0x00007f7887316ae8 in g_main_context_iterate.isra () from /usr/lib64/libglib-2.0.so.0
#40 0x00007f7887316b7c in g_main_context_iteration () from /usr/lib64/libglib-2.0.so.0
#41 0x00007f788a73dd33 in QEventDispatcherGlib::processEvents(QFlags) () from /usr/lib64/libQt5Core.so.5
#42 0x00007f78836ce171 in QPAEventDispatcherGlib::processEvents(QFlags) () from /usr/lib64/libQt5XcbQpa.so.5
#43 0x00007f788a6edf4b in QEventLoop::exec(QFlags) () from /usr/lib64/libQt5Core.so.5
#44 0x00007f788a6f5db2 in QCoreApplication::exec() () from /usr/lib64/libQt5Core.so.5
#45 0x00005583d6a601db in main (argc=, argv=) at /home/user/test_ws/src/rviz/src/rviz/main.cpp:42
[Inferior 1 (process 2716) detached]
↧
↧
Robot model parameter not found
I've created a move_group configuration for my robot but anytime I try to run the moveit_commander using , I get a "Robot model parameter not found! Did you remap 'robot_description'?" error.
When I ran my rosparam list|grep robot_description_semantic and rosparam list|grep robot_description. I noticed the robot_description and robot_description_semantic are in the namespace /robot/robot_description and /robot/robot_description_semantic. How do I run the moveit_commander in a specific namespace since I'm running multiple robot?
Thanks.
↧
moveit_msgs::CollisionObjects has no member named meshs/ meshes_pose etc
Hello,
I'm trying to add a mesh into rviz as a collision object on ros_kinetic.
Below is the code i'm using:
// ROS
#include
// MoveIt!
#include
#include
#include
#include "geometric_shapes/shapes.h"
#include "geometric_shapes/mesh_operations.h"
#include "geometric_shapes/shape_operations.h"
// TF2
#include
void addCollisionObjects(moveit::planning_interface::PlanningSceneInterface& planning_scene_interface)
{
// Creating Environment
std::vector collision_object;
collision_object.resize(1);
Eigen::Vector3d b(0.001, 0.001, 0.001);
collision_object[0].id = "shelf";
shapes::Mesh* m = shapes::createMeshFromResource("package://robot_description/meshes/RVIZ/shelf_dae.dae",b);
shape_msgs::Mesh mesh;
shapes::ShapeMsg mesh_msg;
shapes::constructMsgFromShape(m, mesh_msg);
mesh = boost::get(mesh_msg);
collision_object.meshes.resize(1);
collision_object.mesh_poses.resize(1);
collision_object.meshes[0] = mesh;
collision_object.header.frame_id = "panda_link0";
collision_object.mesh_poses[0].position.x = 0.283853;
collision_object.mesh_poses[0].position.y = 0.730556;
collision_object.mesh_poses[0].position.z = -0.003741;
collision_object.mesh_poses[0].orientation.x = 0.999850;
collision_object.mesh_poses[0].orientation.y= 0.006747;
collision_object.mesh_poses[0].orientation.z= 0.000108;
collision_object.mesh_poses[0].orientation.w= 0.015920;
collision_object.meshes.push_back(mesh);
collision_object.mesh_poses.push_back(collision_object.mesh_poses[0]);
collision_object.operation = collision_object[0].ADD;
std::vector collision_vector;
collision_vector.push_back(collision_object);
planning_scene_interface.applyCollisionObjects(collision_vector);
planning_scene_interface.(collision_object[0].id);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "moveit_interface");
ros::NodeHandle nh;
ros::AsyncSpinner spinner(1);
spinner.start();
ros::WallDuration(1.0).sleep();
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
moveit::planning_interface::MoveGroupInterface group("panda_arm");
group.setPlanningTime(45.0);
addCollisionObjects(planning_scene_interface);
// Wait a bit for ROS things to initialize
ros::WallDuration(1.0).sleep();
//pick(group);
}
When i run catkin_make i get lot of errors which can be seen below
[ 50%] Built target fetch_model_poses
[ 75%] Building CXX object robot_moveit_config/CMakeFiles/moveit_interface.dir/src/moveit_interface.cpp.o
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp: In function ‘void addCollisionObjects(moveit::planning_interface::PlanningSceneInterface&)’:
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:35:18: error: ‘class std::vector>>’ has no member named ‘meshes’
collision_object.meshes.resize(1);
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:36:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses.resize(1);
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:37:18: error: ‘class std::vector>>’ has no member named ‘meshes’
collision_object.meshes[0] = mesh;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:38:18: error: ‘class std::vector>>’ has no member named ‘header’
collision_object.header.frame_id = "panda_link0";
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:39:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].position.x = 0.283853;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:40:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].position.y = 0.730556;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:41:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].position.z = -0.003741;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:42:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].orientation.x = 0.999850;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:43:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].orientation.y= 0.006747;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:44:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].orientation.z= 0.000108;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:45:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses[0].orientation.w= 0.015920;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:47:18: error: ‘class std::vector>>’ has no member named ‘meshes’
collision_object.meshes.push_back(mesh);
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:48:18: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses.push_back(collision_object.mesh_poses[0]);
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:48:56: error: ‘class std::vector>>’ has no member named ‘mesh_poses’
collision_object.mesh_poses.push_back(collision_object.mesh_poses[0]);
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:49:18: error: ‘class std::vector>>’ has no member named ‘operation’
collision_object.operation = collision_object[0].ADD;
^
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:51:44: error: no matching function for call to ‘std::vector>>::push_back(std::vector>>&)’
collision_vector.push_back(collision_object);
^
In file included from /usr/include/c++/5/vector:64:0,
from /usr/include/c++/5/bits/random.h:34,
from /usr/include/c++/5/random:49,
from /usr/include/c++/5/bits/stl_algo.h:66,
from /usr/include/c++/5/algorithm:62,
from /usr/include/boost/math/tools/config.hpp:17,
from /usr/include/boost/math/special_functions/round.hpp:13,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/ros.h:38,
from /home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:2:
/usr/include/c++/5/bits/stl_vector.h:913:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = moveit_msgs::CollisionObject_>; _Alloc = std::allocator>>; std::vector<_Tp, _Alloc>::value_type = moveit_msgs::CollisionObject_>]
push_back(const value_type& __x)
^
/usr/include/c++/5/bits/stl_vector.h:913:7: note: no known conversion for argument 1 from ‘std::vector>>’ to ‘const value_type& {aka const moveit_msgs::CollisionObject_>&}’
/usr/include/c++/5/bits/stl_vector.h:931:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(std::vector<_Tp, _Alloc>::value_type&&) [with _Tp = moveit_msgs::CollisionObject_>; _Alloc = std::allocator>>; std::vector<_Tp, _Alloc>::value_type = moveit_msgs::CollisionObject_>]
push_back(value_type&& __x)
^
/usr/include/c++/5/bits/stl_vector.h:931:7: note: no known conversion for argument 1 from ‘std::vector>>’ to ‘std::vector>>::value_type&& {aka moveit_msgs::CollisionObject_>&&}’
/home/mvish7/ws_panda_gazebo_moveit/src/robot_moveit_config/src/moveit_interface.cpp:54:26: error: expected unqualified-id before ‘(’ token
planning_scene_interface.(collision_object[0].id);
^
robot_moveit_config/CMakeFiles/moveit_interface.dir/build.make:62: recipe for target 'robot_moveit_config/CMakeFiles/moveit_interface.dir/src/moveit_interface.cpp.o' failed
make[2]: *** [robot_moveit_config/CMakeFiles/moveit_interface.dir/src/moveit_interface.cpp.o] Error 1
CMakeFiles/Makefile2:2559: recipe for target 'robot_moveit_config/CMakeFiles/moveit_interface.dir/all' failed
make[1]: *** [robot_moveit_config/CMakeFiles/moveit_interface.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
[Here](https://github.com/mvish7/moveit_gazebo_integration/blob/master/CMakeLists.txt) is the cmake.txt file and [here](https://github.com/mvish7/moveit_gazebo_integration/blob/master/package.xml) is the package.xml file.
Can anyone help me in this??
↧
UR5 manipulator look/point at a turtlebot3
Can anyone please point me in the direction of example code or a tutorial which uses a manipulator to track a mobile base robot or some other object?
I have a project to use a UR5 to track the movements of a turtlebot3. I have both robots simulated in Gazebo, I use teleop to drive the turtlebot around and I use moveit to put the ur5 end effector at randomly generated poses.
I am also using a static_transform_publisher to connect both robots **\tf** root nodes to the root world node. This has given me transforms with *frame_id: odom* for the turtlebot and *child_frame_id: base_link* for the ur5, as shown below.
What I don't know is how to use moveit to to execute the transform which would point the ur5 end effector in the direction of the turtlebot.
I would appreciate any assistance.
↧