Can i use MOveIt package in ROS without closed loop motor control?
I have two DC Servo motors with step and direction pins. But i dont have any feedback from the motor. I had read earlier that moveIt requires closed loop feedback control for operation....
View Articlehow to set orientation constraints to my end effector?
Hi all, I would like my UR5's end-effector to have an orientation constraint. Here is the code I used to try to achieve that: //Adding Path Constraints planning_interface::MotionPlanRequest req;...
View ArticleHow to see visualization of execution of motion on RVIZ using MoveIt
I want to see the trail/visualization of motion when i execute a motion. Both these options(Trail/Animation) are switched on in the rviz motion planning menu. What can be done? Does this mean that...
View ArticleControlling action server with Moveit
Hi, I'm attempting to build ROS, and specifically moveit, support for a 5 jointed robot arm that until now has had no ROS integration. I've made a moveit config file that I can load correctly into...
View ArticleMoveIt plan fails after attaching an object, but not from Rviz or after...
I am implementing a tool change procedure by attaching a collision object to the robot's gripper. However, after attaching the object, the planner fails to sample any valid states for the goal tree....
View ArticleMoveit & singularities
Hi all, I was wondering if MoveIt actually knows about robot singularities... because when I execute trajectories sometimes the robot makes a little oscillation. It seems that it stops for a little...
View ArticleHow to send MoveIt joint control data to actual motor
I want to the motor of my robotic arm based on effort/velocity data that i get after planning trajectory on move it. How do i connect my motor and get it to move? Motor Specification: Rhino DC-servo...
View ArticleDetails of MoveIt! to OMPL Pipeline
I have recently been trying to wrap my head around the pipeline between MoveIt! and OMPL. Currently, my main issue is that I want to be able to take a state generated by OMPL and map it back to what it...
View ArticleRobot link and Robot attached collision in MoveIt!
I'm trying to grasp an object on a table, attach it to the hand, and drop it off somewhere else with the Jaco2 robotic arm. Grasping works fine: I attach the object and close the grippers, which leads...
View ArticleObstacle information to MoveIt !!
Hello guys I am using Ardrone and i am also successfully able to plan trajectory using Moveit. Now I have a obstacle detection ROS node which is giving the coordinates of the obstacle in front. My...
View ArticlePRM roadmap building not working through movegroup
Hello, I am using OMPL with ROS Kinetic and trying to make PRM work. I have the following in ompl_planning.yaml PRMkConfigDefault: type: geometric::PRM max_nearest_neighbors: 10 ... manipulator:...
View Articleunable to move arm with moveit!
On kinetic, Ubuntu 16.04, trying to make the arm of my robot move a little bit. the code: bool run_script(){ moveit::planning_interface::MoveGroupInterface move_group("arm"); geometry_msgs::Pose...
View ArticleMoveGroupCommander get_current_pose() returns incorrect result when using...
I want to perform a movement relative to the current pose of a UR robot, which I have prototyped in Python. When I am running the simulation and the physical robot, the same .urdf and .srdf files are...
View ArticleHow to get joint state data for a trajectory using MoveIt python interface?
I want to get the required arm joints rotation angles for a trajectory planned in moveIt. I am confused between ROS-Control, hardware_interface and actionlib.
View ArticleMoveit: adding objects to the scene using laser scanner
HI all, I have an issue regarding the insertion of new objects to the scene. I am using a laser scanner for detecting obstacles, and when the variable obs_detection becomes true, I make a box appear in...
View ArticleWhat's next after loading controllers to move Arm?
I have cloned the github repository [safe_arm](https://github.com/byeongkyu/safe_arm.git) On launching the relevant files the controllers are started. Now for example i have a robotic arm with the...
View ArticleHow to set up planner through PlannerManager
I am trying to use OMPL planners directly through Motion Planning API, as [described in this...
View ArticleHow to link FollowJointTrajectory action to move-group and gazebo?
I have modified the files of [safe_arm](https://github.com/byeongkyu/safe_arm) Here is the node graph of safe arm generated using rqt followed by my own robots node graph ![...
View ArticleMoveIt: Error: Action client not connected
On running move it for my custom robotic arm i am getting the following error [ERROR] [1534930610.891287885, 28.494000000]: Action client not connected:...
View Articlemoveit: param server is missing planner configurations
Hello all, here are the errors, [ERROR] [1528993777.322079817]: Could not find the planner configuration 'RRTConneckConfigDefault' on the param server [ERROR] [1528993777.326028820]: Could not find the...
View Article