Correct implementation of ComputeCartesianPath to move end actuator in a...
Hello everyone. I'm quite new to ROS, doing a practicum project right now and have been pretty stumped with this for a few days. I have a TIAGo Robot, with a 6DOF arm with whom I want to be able to...
View ArticleTraffic planning in rviz and execution in Gazebo problem
Using the moveit package I wanted to create a controller controlling my own hand using .py scripts. In my model I already have a controller, thanks to which I can move my hand with rqt_gui, but I...
View ArticleMoveIt! execution of joint group trajectories with "all joints controller"
I have a robot with a couple of joint groups configured. The controller, however, serves a JointTrajectoryAction for the whole robot (there are no individual controllers for each joint group). My...
View ArticleDifferent Ways to Implement Custom Planners with MoveIt!
Hello! I am currently in the process of implementing a custom planner for my robot arm through MoveIt!. Looking at the documentation and at various forums, there seems to be two approaches. 1. Install...
View ArticleHow do I interact the actual robot with visualization by rviz in Moveit?
I have visualized my robot arm in Rviz. And the actual robot side also connects to RaspberryPi 3 (ROS installed already). I have read many documents and articles but they made me dizzy. As what I have...
View ArticlePick and Place using Moveit
I am attempting to do a pick and place using a custom robot. I am using these scripts as my reference: https://github.com/DebasmitaGhose/moveit_tutorials/tree/kinetic-devel/doc/pick_place...
View ArticleMoveit gdb debugging
Hi, I'm trying to run move_group code through gdb. I compiled moveit from sources with --cmake-args -DCMAKE_BUILD_TYPE=Debug. Still, it seems like debug information haven't been lost. What I did: I ran...
View ArticleHelp with cob_trajectory_controller
Hello, I am working with cob_trajectory_controller and MoveIt!. Currently I can generate and plan a new trajectory in MoveIt and upon trying to execute the trajectory the cob_controller fails everytime...
View ArticleControlling two robots: please help me get started (Action client not...
**edit ---** [as of four years ago](https://groups.google.com/forum/#!topic/moveit-users/NZfk2PfnxWM) there was apparently no way to use MoveIt! with multiple robots, other than to combine them into a...
View ArticleMoveit Octomap Not Allowing Command Planning or Execution
Hi all, I've been trying to hook up Moveit so that my robot can avoid obstacles using openni_tracker and openni_launch. I've added octomap capabilities to my demo.launch file as: My process for getting...
View ArticleControlling MoveIt Marker with a Novint Falcon
I need to use a Novint Falcon haptic controller to move a 6 DOF modular Schunk arm. I have the arm set up in MoveIt and all the path planning works but I need to use the Falcon as a Joystick instead of...
View ArticleUsing Novint Falcon Haptic Device as Joystick in MoveIt
I need to use a Novint Falcon haptic controller to move a 6 DOF modular Schunk arm. I have the arm set up in MoveIt and all the path planning works but I need to use the Falcon as a Joystick instead of...
View ArticleHow to set a sequence of goals in moveit?
Hi everyone, I would like to give my robot a sequence of goals such that by pushing plan & execution in Rviz it is possibile to make the robot reach every single goal serially. Does anyone know...
View ArticlePick and Place using 2 hands
I want to do a bimanual pick and place task for an object at a known position of a known shape using Moveit. I have been using [this...
View ArticleUsing State Lattice Motion Planning for Arm Control with MoveIt!
I am currently working on implementing and extending Ben Cohen's work on [Search Based Planning for Manipulators](https://ieeexplore.ieee.org/abstract/document/5509685/). I have created a model of our...
View ArticleBimanual Pick and Place
## Problem Description ## I have been attempting to modify the pick and place tutorial for panda arm from [this...
View ArticlePX4 moveit iris.xacro
I have a problem with moveit and PX4 iris model. More specifically I get that error: Running xacro failed. The terminal error output was "Undefined substitution argument rotors_description_dir None...
View ArticleVelocity Control on Fanuc Robot
I'm currently trying implement path planning and execution of dense cartesian trajectories on fanuc arms. I've had reasonable success planning the path provided that I ignore the specified velocities...
View ArticleError when using Ikfast translation3D with MoveIt : "Can only compute FK for...
Hi, I'm willing to plan for a 3dof leg with moveit, using an ikfast transform3D plugin, but it fails with the error "Can only compute FK for Transform6D IK type!". The IK is OK (tested in rviz with...
View ArticleMoving custom robotic arm to desired position in rviz using Moveit
My arm doesn't move to the selected finish position when planning and no trail is shown when trail checkbox is on. I have selected the start and finish states on pressing plan there is no motion...
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