MoveIt problem. error: Trajectory message contains waypoints that are not...
Hello, I'm trying to use MoveIt's group interface to execute a Cartesian path. When I try to execute the plan with the trajectory, I get the error: Trajectory message contains waypoints that are not...
View ArticlePose Goal as Motion Plan Request
I have gone through the moveit_msgs and I have seen the Motion Plan Request. My question is, how can we specify a pose goal in the motion plan request? Is it possible to set a simple pose goal as shown...
View ArticleDiscrepancy between OctoMap visualization and actual OctoMap in MoveIt!
The robotic platform I use is rail-mounted and has a manipulator 6-DOF robotic arm). I am using MoveIt! to control the arm. The rail the robot is mounted on is added as a collision object. I want to...
View ArticleMoveIt 6 DOF arm: moving a box around a planar surface
Hello ROS Users, I have a 6 DOF robot arm. This robot arm is holding an object, say a cube. Ultimately, I would like to specify an (x, y, z) position for the cube to reach on a planar surface, while...
View ArticleDefine end-effector pose by point and vector
Hi all, I am using a UR10 with Moveit! for motion planning (move group interface C++). I want to align my end-effector with a vector in space. I read a lot about quaternions and rotation in 3d space,...
View ArticleEasy Access to robot poses created using the MoveIt! Setup Assistant
Consider that I have set 3 different poses for my robot with different names and different joint values. Now while using the `MoveIt Setup Assistant` I can add the 3 poses under the tab `Robot...
View ArticlePosition ONLY IK with seed value using MoveIt
Hi, I am using moveit for IK calculation of my Baxter Robot. I want to calculate the joint angles for a given position (excluding orientation) of End-Effector. Following is code snippet: import...
View ArticleUnable to connect to move_group action server 'pickup' within allotted time
Dear Ros Users, I am trying to use moveIt! but, when launching RViz, this is the error that I get: Unable to connect to move_group action server 'pickup' within allotted time (30s) Actually, "pickup"...
View ArticleMoveIt Cartesian Path with Constraints
Hello, I am having trouble getting my function call to group.computeCartesianPath() to follow my previously set constraints with group.setPathConstraints(). Since my path constraint is an orientation...
View ArticleAlign x-axis of end effector with vector in space
Hi all, I really need your help. I have tried now for a few days to align my end effector with a simple 3d vector in space. Thats's a quite simple task: given position = x,y,z and given orientation...
View ArticleComplete MoveIt! Pick and Place example? (ideally with Gazebo integration)
There is [this nice video](https://www.youtube.com/watch?v=Jk_s98U5ob8) of a (real) PR2 performing Pick&Place using ORK and MoveIt!. Is the demonstrated (launch file) setup available somewhere? I´d...
View ArticleFail: 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]...
View ArticleMoveit Tutorials step: Move_group interface Tutorial
I can not go forward in this step of the tutorial, after opening Rviz the tutorial says to insert the command: *roslaunch moveit_tutorials move_group_interface_tutorial.launch* Then the following...
View Articleproblem with MoveIt + joystick_control.launch
I've created a simple arm and I want to control it using a joystick. Here's my launch file: The error I'm getting is from joystick_control.launch is "[FATAL] Check if you started movegroups. Exiting."...
View ArticleEnd-effector jumping about erratically with MoveIt
Hi, I'm using MoveIt to control my arm. It has < 6 DoF so I need to tick "Allow Approximate IK Solutions" in order to drag the end effector in `moveit_rviz`. However, I am running into two problems...
View Articleuniversal_robot driver for ROS Kinetic
Currently I am working on some movement planning projects with UR3, and one of the ideas is to use Raspberry Pi 3 model B as a computing center for robot's motion planning. The issue is that Ubuntu...
View ArticleMove_group_interface_tutorial: orientation vs. position
Hi! I am learning how to plan my robot arm with moveit following pr2_tutorials: http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html What i dont...
View Articlemoveit cant find GLEW
Attempting a build from source on a debian jessie installation, have rosdep all issues, yet it fails to build with an ..... CMake Error at...
View Articlelibfcl-0.5-dev cant resolve depends
Building moveit from source on a debian jessie install on a hP Xeon Proliant server. rosdep Unable to locate package libfcl-0.5-dev Couldn't find any package by regex 'libfcl-0.5.dev' my last issue was...
View ArticleOrientation constrained Inverse Kinematics in Moveit is not working on Baxter
Moving from point A to point B, I want Baxter arm to stay approximately vertically downward throughout the trajectory. The trajectory ends near to the workspace limit, hence arm must be stretched in...
View Article