Planning together multiple sequential motions in Moveit
Hello, I'm trying to use Moveit and a Baxter robot to perform some complex actions (i.e. each action is composed of multiple motions) on a table. My main issue is that sometimes these action would fail...
View ArticleMoveIt control using Kinematic model for faster control rate
Normally the user uses the [moveit move group interface](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html) to send command to...
View ArticleTF_NAN_INPUT error created by moveit_commander
Hi everyone, I run ROS Indigo on Ubuntu 14.04 machine. I spawned the Pioneer P3dX robot as a mobile base and Cool1000 7DOF arm as the manipulator mounted on the mobile base. I use a Xbox kinect for...
View ArticleHow to get IK response for user provided pose in MoveIt(Baxter)
Below is the code snippet of ik_service_client.py provided for Baxter SDK rospy.init_node("rsdk_ik_service_client") ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService" iksvc =...
View ArticleMoveIt RobotState initialisation
In the MoveIt tutorial for the [kinematic part](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/kinematics/src/doc/kinematic_model_tutorial.html), the sample code does the...
View ArticleMoveIt! path final position is off significantly
Hi everyone. I'm trying to use MoveIt! for path planning. I'm using the TRAC_IK and I set the timeout to 10 seconds (just as a debugging measure), but the final position is consistently off by an...
View ArticlePadding between Robot and "fixed" environment
Hi, this is a bit of a best practise question I guess. We have recently started seeing customer request for using very imprecise robots like YuMi or even worse UR5. So we need to think about adding...
View ArticleHow do I attach a Barrett Hand to a UR5 arm?
I am trying to simulate a pick and place robot using a Barrett Hand and a UR5 Universal robot. I have both of them running in Gazebo and I can control both but I need to join them and then control...
View ArticleErrors occur when roslaunching the tutorials on Descartes
Hey guys, I am a novice in the moveit and ROS and i have installed the Descartes and the descartes_tutorials repository in my ros. The building is finished, but when i roslaunching the tutorials using...
View ArticleController can't be found but are loaded,Moveit
Hi all, I am trying to add a **barrett hand** to an **abb IRB 120** arm in a **gazebo** simulation and to run the whole thing using **moveit**. I have created a file *abb-barrett.xacro* that combines...
View ArticlePath Constraints not keeping end effector in fixed configuration move
Hi, I am trying to keep the end effector of the UR arm parallel to the ground using Moveit. I give the Poses to the arm via group.setPoseTarget(tgt_pose). I am testing yet simple poses. For instance...
View ArticleMeshes in moveit setup assistant
Hi all, Pretty quick question: can meshes be used and rendered in urdf files for the moveit_setup_assistant? I ask because currently, when I try to load a urdf with a reference to a .stl file, I get...
View ArticleSuggestions for drone simulator with ROS + Gazebo
Hi there, I am looking for a decent starting point for a drone project. I've checked the TUM_SIM (http://wiki.ros.org/tum_simulator) And it seems quite stable, nevertheless, anyone has some experience...
View ArticleRRTConnect/TRAC IK fails only on Distance solve_type
So I'm trying to change the `solve_type` to "Distance" as opposed to "Speed" for TRAC IK. RRTConnect and TRAC IK acknowledge the change, but I'm getting an error in the console and a failed compute...
View ArticleFrom FollowJointTrajectoryAction to JointStates
I have a robot whose driver gets a `JointStates` message and immediately brings the robot to that pose. In order to be able to use it with ***moveit*** I need a node converting the...
View ArticleError when trying to launch moveit created robot model
I am trying to create a simulated robot in Gazebo that can be operated with use of the Moveit. I created a robot using moveit assistant, placed it in catkin workspace folder and built it. But when I...
View ArticlePath constraints
Hello I am trying to keep the end effector of the UR10 arm parallel to the ground using Moveit, which means the pose of end effector's pitch=0, roll=0 and yaw angle can be any value. My code is shown...
View ArticleMoveIt! rviz MotionPlanning plugin broken Robot geometry
I followed the Moveit Setup Assistant Tutorial to configure a manipulator for use with MoveIt. I did - load the URDF/Xacro file - set the virtual joint - add a planning group - define a robot pose -...
View ArticleMoveIt and Gazebo Issue
Hi all, Background: I am a complete newbie to Gazebo, ROS, and MoveIt. I am currently using ROS-Indigo along with Ubuntu 14.04, Gazebo, and MoveIt. This is not something that I have written myself, but...
View ArticleMoveIt and Gazebo Issue
Hi all, Background: I am a complete newbie to Gazebo, ROS, and MoveIt. I am currently using ROS-Indigo along with Ubuntu 14.04, Gazebo, and MoveIt. This is not something that I have written myself,...
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