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Here's a bunch of diff's against cturtle that I used to get your use case working in simulation:

(1) Change the configuration and planning specification to add new group: diff for stack pr2_arm_navigation

http://pastebin.com/edit.php?i=WFW9mn7d

(2) Change the controller to work only on those three joints (in simulation): diff for package pr2_controller_configuration_gazebo

http://pastebin.com/edit.php?i=2SSMtJRY

(3) Change the controller to work only on those three joints (on the robot): diff for stack pr2_robot

http://pastebin.com/edit.php?i=5xSBiF77

I did not test on the robot though.

Here's a bunch of diff's against cturtle that I used to get your use case working in simulation:

(1) Change the configuration and planning specification to add new group: diff for stack pr2_arm_navigation

http://pastebin.com/edit.php?i=WFW9mn7dhttp://pastebin.com/WFW9mn7d

(2) Change the controller to work only on those three joints (in simulation): diff for package pr2_controller_configuration_gazebo

http://pastebin.com/edit.php?i=2SSMtJRYhttp://pastebin.com/2SSMtJRY

(3) Change the controller to work only on those three joints (on the robot): diff for stack pr2_robot

http://pastebin.com/edit.php?i=5xSBiF77http://pastebin.com/5xSBiF77

I did not test on the robot though.

Here's a bunch of diff's against cturtle that I used to get your use case working in simulation:

(1) Change the configuration and planning specification to add new group: diff for stack pr2_arm_navigation

http://pastebin.com/WFW9mn7dhttp://pastebin.com/raw.php?i=WFW9mn7d

(2) Change the controller to work only on those three joints (in simulation): diff for package pr2_controller_configuration_gazebo

http://pastebin.com/2SSMtJRYhttp://pastebin.com/raw.php?i=2SSMtJRY

(3) Change the controller to work only on those three joints (on the robot): diff for stack pr2_robot

http://pastebin.com/5xSBiF77http://pastebin.com/raw.php?i=5xSBiF77

I did not test on the robot though.