MoveIt! Dynamixel movement issues
Hey guys, this is my second question in here and hopefully the first to get answered. So I started working with Dynamixel Motors this week. I am trying to move a 5DOF arm with MoveIt!. The problem is...
View ArticleConverting ultrasound range to a Laser Scan
In my end of studies project, I have to make a robot that should do mapping and localization using only ultrasounds sensor. So for doing this i should convert sensor_msgs/LaserScan message to...
View ArticleDifference between a planner and a planning library
This is a question about terminology regarding MoveIt!. I thought that the OMPL, STOMP and CHOMP are 'planning libraries' and RRT, PRM, SPARS etc. are 'planners'. But the MoveIt! website lists the...
View Articlemove_group Failed to validate trajectory after launching second simulation
I am launching two simulations, each on it's own gazebo master and each of those on their own ROS master. The ROS masters are connected with Multimaster-FKIE package where the `/gazebo` and...
View ArticleDisable collisions between specified links and Octomap
Hi all, I am using a manipulator with a suction gripper to pick up objects from the clutter. Planning scene and picking items are visible to the depth camera. I am using MoveIt! with...
View ArticleRECALLED: This goal was canceled because another goal was recieved by the...
I am running a service that is using `moveit_commander` for planning and executing a Cartesian trajectory with the panda robotic arm. It seems, that a few seconds after initialization of the moveit...
View Articlewhat are the different ways to integrate custom gripper(pneumatic) with ROS?
Hello, I have schrunk gripper on motoman robotic arm > https://ibb.co/4jjF8Zr , > https://schunk.com/be_de/greifsysteme/product/16941-0370100-pgn-64-1/ how can I integrate this gripper with my...
View ArticleHow to config the planning group for irb-1410
There are several joints to be linked in irb-1410, but i can not find a good solution. If anyone has done it before, please tell me. Thx~!
View ArticleMoveit getJacobian returns wrong jacobian
I am trying to extract the Jacobian with that code: robot_model_loader::RobotModelLoader robot_model_loader("robot_description"); robot_model::RobotModelConstPtr kinematic_model =...
View ArticleGroupname is not found using moveit, kuka-iiwa-14
Hi! I'm working with kuka-iiwa14 robot and try to simulate this in Gazebo using MoveIt. For the iiwa I use the package of Salvo Virga: https://github.com/IFL-CAMP/iiwa_stack. Running with Ros kinetic...
View ArticleAre odom_combined and base_link same for the PR2
When I perform a tf2 transformation from a frame to these frames, I seem to have getting the exact same values, are they same and both the world frame of the robot?
View ArticleMy robot cannot pick a target by moveit
I want use moveit to control my robot for a simple pick_and_plce task in rviz, and I use ur10 with a robotiq85 gripper. But it plans always fail. The information shows that there is a contact between...
View ArticleRobot arm falls over on spawn (Gazebo)
I'm using ROS Melodic with the denso_robot_ros package (https://github.com/DENSORobot/denso_robot_ros). I'm currently trying to adapt my own arm to utilize the package. The package comes with a...
View ArticleCan't get robot arm's current pose with a error (Failed to fetch current...
Hello, everyone. Thank for looking this thread. I want to get end-effector(link_t)'s pose using `moveit::planning_interface::MoveGroupInterface::getCurrentPose()`. But, I could not get end-effector's...
View ArticleHow to fix end effector direction to approach object with MoveIt
Hello, My question is that how to fix end effector orientation to approach object(move forward) with MoveIt? I already let my robot to move to a given goal position(x, y, z). If I would like to let...
View Articleexecute a pose in moveit too slow
I have a manipulator 6 DOF I can send it a pose with position and orientation and I set up a simple GUI using tkinter to publish the pose data for moveit to execute on RVIz. It pretty slower than what...
View ArticleOctomap not available in MoveIt
I want to represent my robots environment (available as a point cloud) as Octomap in MoveIt (ROS Kinetic) to make it available for collision checking. Therefore I mainly followed the Perception...
View ArticleMoveit with Gazebo - FollowJointTrajectory does not work
Hello developers! I'm using Manipulator-H from Robotis [github](https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATOR-H) and I'm trying to create a go to goal in gazebo using moveit. By now I made: -...
View ArticleIs there way to get Jacobian (or manipulability) in python with MoveIt?
I'm using compute_ik service in Python, but I wonder if I can get Jacobian matrix (actually I want manipulability). I want to check if the IK solution is healthy with the specified pose. I know I can...
View Articlerealtime control manipulator in ros
I have a 6 DOF manipulator URDF, I can use the compute_ik service to have solution for a specified pose then I publish in Rviz but I see that if I use set_joint_value_target or set_pose_target it very...
View Article