How to keep the robot level in motion
Hello guys, I want to get my Universal Robot model keep level in the simulation in Moveit which means the rotation of X axis and Y axis of the robot's end-effector will not be changed and the the...
View ArticleHow to find the orientation of a 6DOF robot optimizing manipulability with a...
Hello, I am trying to find the orientation of my 6DOF robot that maximizes the manipulability at a given endeffector postition and a known orientation of my z axis. What I am trying to do, is to use a...
View Articlecannot roslaunch moveit_planning_execution.launch
Hi all! I'm following the tutorial of industrial [Create_a_MoveIt_Pkg_for_an_Industrial_Robot](http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot). When I stepped into...
View ArticleUsing a laser scan/point cloud to set work-area boundaries
Can anyone recommend a way to use a laser scan or point cloud to limit the areas a fixed-base robot arm will try to reach? I've got a 2D lidar mounted behind the arm that scans the walls and ceiling,...
View ArticleMoveIt 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...
View ArticleSpecify passive joints in URDF for IK Fast
I'm trying to generate an IKFast plugin of a 4DOF arm (UArm swift), since the standard kdl solver does not work well with arms with less than 6 DOFs. However, there is a problem: there is a passive...
View Articlesend realtime data to moveit teleoperate robot
Hello, I have designed a master device to control robot. I want to use moveit to do motion planning. I want to send three dof. position data to robot end-effector . I have write a talker node to send...
View Articlecannot use moveit! with dual_ur5 platform
Hello everyone! I'm using moveit! package to do motion planning on real dual_ur5 platform.I can ping both the IP adresses of the two arms.All config plugins may work well (like the .yaml files).But the...
View Articlesomething wrong when start the moveit package of my own robot
HI all! I'm trying create a moveit package for my own robot following the tutorial...
View ArticleMoveIt with OMPL for mobile platform naviagtion
I'm currently trying to solve the motion planning / navigation problem for my mobile robot. So far I have a working gazebo simulation where I can send manuallay steer / move the robot and it's...
View Articlemove_group.setWorkspace() doesn't work?
Hi all! I am working on a project where I have to build lego structures collaberative with a human. Now I am new to moveit and have the cartesian path planning working in gazebo (sinusoidals, pick and...
View ArticleMoveIt GetPositionIK Service avoid_collisions
I'm using the MoveIt ROS API to request an IK solution for a 6-DOF arm with a custom gripper attached, in an attempt to pick up a small object. This inevitably brings the grasper links into close...
View ArticleCan not retrieve parameters.
I am running `ur5_moveit_config demo.launch` from ros-industrial's `universal robot` package and I'd like to control it from my node. For that purpose I need to retrieve several parameters from...
View ArticleNo home point in Moveit Cartesian Plan Plugin in
Hello, I have installed the Moveit Cartesian Plan Plugin in my rviz , when the "Move to Home" button is clicked, the robot move to the default origin pose i cannot define. So could you tell me how to...
View ArticleAdding the collision object "wall" to moveit-rviz
Hi everyone, I was trying to add a wall to my robot its planning scene by creating a node that will spawn this wall. With these walls I want to set the workspace. When I run it I don't get any errors...
View ArticleMoveIt Move only one Joint
Hello everybody, Can someone tell me, how to move only one joint with MoveIt - Move Group Interface and not the end-effector pose. Has someone experiences and can give me a some tips? Thanks!
View ArticleOSError: [Errno 13] Permission denied:...
HI all! I'm trying create a moveit package for my own robot following the tutorial Create_a_MoveIt_Pkg_for_an_Industrial_Robot. When I finished the second part Update Configuration Files I tested the...
View ArticleHow to give Octomap data to the Planning Scene? (MoveIt!)
Hello, I'm relatively new to MoveIt and ROS. For the past week, I have been trying to configure the 3D sensor (a Kinect) on my robot model to work in MoveIt!, following the tutorial...
View Articleend-effector constraint with moveIt
Hi, I’m trying to use move it to move an arm vertically ONLY. The idea is to keep the tip of the end-effector to always keep the x and y-axis position and change the z-axis position in each iteration,...
View Articleintegrating subsequent trajectories
Hi There, We are using Moveit to move a BAXTER arm. The scenario of our application is to move the end-effector with small distances in Cartesian space till we reach a final goal. So each time we...
View Article