Incorrect/unexpected behavior from Trac-IK with calls to...
I just switched to Melodic from Kinetic (yay!) and some of our existing code base started generating infeasible trajectories (nooo!). Upon further inspection it seems that RobotState's setFromIK was...
View ArticleRVIZ only allows setting goal position in 1 axis for PhantomX Reactor Arm
I have a PhantomX Reactor arm running with the U2D2 controller and SMPS2Dynamixel. I have RVIZ and MOVEIT! running just fine with 1 exception. I have limited ability to set the goal position. When I...
View Articlemoveit plan execution time
Hello I am using moveit motion planning api on Ubuntu to control my real robot. I can`t find a way to adjust the total execution time (duration) of a plan. (Btw, what is the default execution time for...
View ArticleHow to use MoveIt without a real or simulated robot
Hello, is there a way to simply do the path planning of a robot with moveit with a given URDF without the execution part of the robot? I dont want to supply any `FollowJointTrajectoryActions` or...
View ArticleProblem while Launching MoveIt! library loading error
Hello. I'm using ROS Kinetic. For some reason there is a problem loading a library from OpenCV, as shown below: [ERROR] [1544178952.950336396]: PluginlibFactory: The plugin for class...
View ArticleMoveit! trajectory not reaching till Gazebo
Hello, I'm trying to observe trajectory generated by moveit in gazebo for panda robot. I have done all the necessary configurations on Moveit side and gazebo side. My problem is when i press plan and...
View ArticleHow to feedback joint positions to MoveIt?
I am working with a robot we built (with three joints), and control it through ROS such that everything goes well. However I have a doubt about how to properly feedback the joint states to moveit. It...
View ArticleArm does not appear when using xacro to attach UR5 to Robotiq Gripper
I am trying to attach a Robotiq 2f gripper to a UR5 arm, but cannot get the two components to properly connect to one another. Following the tutorial...
View ArticleWhy don't overridden joints limits (via joint_limits.yaml) get passed to...
It seems to be the case the the URDF limits are used in the IK calls and the overridden values via joint_limits.yaml are only used in higher-up planning calls? Can someone explain why this is?
View ArticleMoveIt Tutorials not building on ROS Melodic
{Ubuntu 18.04] I've tried following the MoveIt! Getting Started Tutorial using both the MoveIt! binaries as well as building MoveIt! from source and in each case I end up with a StaticAssert error...
View Articlemoveit getJacobian
Hi! I had a problem with moveit's computeVariableVelocity, which I tracked down to a weird Jacobian matrix in my model. The robot has X, Y and Z prismatic joints, then a Z revolute. But with the...
View ArticleDoes an arm in Moveit require an end effector
I am developing a robot arm on Indigo that just has a camera on the end of it. Since the camera is on the last link of the arm and the position of the end of the arm i was wondering if I still need to...
View ArticleHigh jerks in acceleration values
Hello, I am using ros-kinetic version on ubuntu 16.04 . I am sending trajectories from MoveIt to ros control. To analyse trajectory, I compared trajectory given by MoveIt with the output of ros control...
View ArticleAcceleration profile Overshoots
Hi I am using ROS kinetic with Ubuntu 16.04. I am trying to compare the trajectory generated by MoveIt! and the trajectory at the output of ros-control. When I analyzed the acceleration profiles for...
View ArticleMoveIt Tutorial - RViz Robot colliding with itself
I'm going through the [MoveIt tutorial using RViz](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html) and some things I'm seeing require an...
View ArticleHow to use orientation constraints in moveit?
For a box picking task with moveit, I want to add an tilt to prevent losing the content of the Box. (Like moving a filled glass of water) Therefore I added an OrientationConstraint in the Move Group...
View ArticleWhy don't joints appear in poses for Robotiq gripper?
I'm trying to build a simulation in Gazebo for a UR robot along with a Robotiq 2F-140 gripper (ideally with ros-melodic), but when using MoveIt to generate config files for a the robot coupled with the...
View ArticleUsing Herkulex Smart Servos with ROS and MoveIt
I'm currently in the process of building a revolute robot arm powered by Herkulex servos and I wanted to check with the community to see if anyone else already has a ROS driver node for these servos....
View ArticleInreasing waypoints in MoveIt!
Hi I am sing ROS-Kinetic with Ubuntu 16.04. I have a 7 dof manipulator and I am using ros-control and MoveIt! for trajectory planning and execution. However I want to increase the way-points that...
View Articlewhy can not it set the state in the planning scene to the final state of the...
In moveit tutorial at motion planning API section , 3 paths were generated. at each path it was claimed that the robot start from the end of previous path point. but when i run the tutorial's program...
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