Phantomx Pincher MoveIt!
Hi,
Having just recently purchased a couple of phantomx pincher robotic arms and a couple of turtlebot2's I was hoping to attach them to the top and get some mobile robotic action on :).
But first I thought it best to try and at least get the robotic arms to move on their own.
Using Fergs / vanadium labs excellent models I was able to get a urdf of the phantomx pincher, in what I hope is a somewhat accurate setup, given I had to do it all by eye, rather than through the solidworks - urdf exporter.
So far from the simple rviz launch files it loads up ok in rviz, though I seem to only be able to view movement of the joints through 'tf', i guess I'm not loading an additional part in the launch file.
I have ported it over to moveit using the assistant, however loading up the demo.launch and playing around with it, it just doesn't seem quite right.
The first joint at the bottom doesn't seem to move / rotate when I manually try and move the gripper.
I know it can rotate because pressing the random goal state does place it into different positions, it is just that manually moving it about seems to restricted, particularly when I compare it with another moveit package for the fanuc m10ia.
I suppose I ask is this just expected behaviour or have I set up the urdf or moveit config incorrectly.
Also if anyone happens to have experience in setting up the parallel grippers i would appreciate it. I believe I need to use something like mimic on one of the joints and simply only move one.
Anyway here are the phantomx packages
https://github.com/cdrwolfe/phantomx_arm
Any help is appreciated.
Kind Regards
Wolfe
Hi Wolfe, do you know how to connect the Phantomx arm with turtlebot? I mean, how set the arm_base_joint's origin in accordance with the turtlebot?
And when I roslaunch phantomx_arm_description phantomx_upload.launch, there is error: Failed to build tree: parent link [plate_top_link] of joint [arm_base_joint] not found. Thanks so much!
Hi Y. Zha, the stand along phantomx_arm wont load only the phantomx_arm_turtlebot_description minimal launch will. This is because as you posted I no longer link the single arm to a fixed global link, but to the top plate of the turtlebot. The full model is required.
Have a look at 'phantomx_arm_turtlebot_description/launch/minimal.launch. Here you can see what is pretty much the turtlebot minimal.launch but with additional stuff added to include the arm. I ended up copying bits and bobs of the turtlebot package into the local phantomx_arm_turtlebot_description folder.
And in phantomx_arm_turtlebot_description/launch/minimal.launch file I found sentence "<.arg name="scan_topic"...", which caused the error: unused args [scan+topic] for include of [/p[y/ros/groovy/stacks/turtlebot/turtlebot_bringup/launch/3dsensor.launch. I'm using turtlebot2. Thanks!
Hi M. cdrwolfe, I'm recently working on phantomx arm and I met some similar problems. My urdf file for the arm has been put here: https://dl.dropboxusercontent.com/u/71137753/phantomx_5dof_qiu.urdf. The mimic tag works well in Rviz but not in Gazebo (so I fixed a finger in Gazebo simu).
Hi again M. cdrwolfe, I have some problems with IK solver. The KDL solver works not well for the 4-dof arm in my case. move_group often fails in a planning scenario. It hardly works in a pick/place scenario, even with a lot of grasp poses. Can you explain a bit how you get rid of this pb? Thanks!
Hmmm, I never gto around to solving that part Im afraid, I simply made do with sending a command to open and close the gripper, I didn't get as far as having a pick and place process in RViz going which could utilise the gripper position / mesh