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You can do this, for

I never got the MoveIt! perception pipeline tutorial to work either

1) Start with this, git clone latest changes getting_started page

2) To run perception pipeline tutorial,

Modify obstacle_avoidance_demo.launch file as below, (By adding static transform for panda_link0 to temp_link and temp_link to camera_rgb_optical_frame solve octomap problem.)

<launch>
  <include file="$(find panda_moveit_config)/launch/demo.launch" />

  <!-- Play the rosbag that contains the pointcloud data -->
  <node pkg="moveit_tutorials" type="bag_publisher_maintain_time" name="point_clouds" />

  <!-- If needed, broadcast static tf for robot root -->

  <!-- modified static transforms solve octomap problem -->
  <node pkg="tf2_ros" type="static_transform_publisher" name="to_temp_link" args="0 -0.4 0.6 0 0 0 panda_link0 temp_link"/>
  <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda_base" args="0 0 0 0.1882209 0.0680271 -1.91357652 temp_link camera_rgb_optical_frame"/>

  <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="to_temp_link" args="0 0.4 -0.6 0 0 0  temp_link panda_link0" /> -->
  <!-- <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda_base" args="0 0 0 0 0.2 1.92 camera_rgb_optical_frame temp_link" /> -->


</launch>