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Problem about using turtlebot_arm with "pincher" argument

asked 2015-04-30 02:57:53 -0500

Yantian_Zha gravatar image

Hi all,

I'm using ROS indigo with Ubuntu 13.10, and the phantomx pincher arm. The arbotix version is the newest one (for indigo).

Following this link "https://github.com/vanadiumlabs/arbotix_ros/pull/28/files?short_path=04c6e90", I add something like "arm_type:=pincher" after my command. For example: roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch sim:=false arm_type:=pincher --screen

The good thing is: I got the phantomx pincher model in RViz. But I also got these errors:

image description

And the planning process was always failed:

image description

Also, noting that the arm.launch file mentions that it's could be problematic to directly pass the "pincher" arg, I also tried changing the argument in the launch file, and the outcome didn't change (I got the same errors). Could someone get me out of this problem? thanks!

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Hi, if you can see the pitcher arm properly I suppose you are using this fork of the code, right? The pitcher arm stuff is not released still

jorge gravatar imagejorge ( 2015-04-30 09:38:57 -0500 )edit

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answered 2015-04-30 13:23:38 -0500

corb gravatar image

updated 2015-04-30 19:37:33 -0500

For the PhantomX Pincher arm, you will need to use these:

Arbotix fork: https://github.com/corb555/arbotix_ros

Turtlebot_arm fork: https://github.com/corot/turtlebot_arm (as mentioned by Jorge, above)

I think you can't pass the arm type as a parameter as you did above. You need to set environment variable "TURTLEBOT_ARM1" to pincher.

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Thanks for your advice. I replaced my packages with yours. And I changed the argument "pincher" in the launch file. But I still got these errors. Perhaps my way of setting environment variable "TURTLEBOT_ARM1" is wrong? Thanks for your further help!

Yantian_Zha gravatar imageYantian_Zha ( 2015-05-01 04:28:14 -0500 )edit

you shouldnt need to change any of the launch files. you should do the following before you launch:

export TURTLEBOT_ARM1=pincher
corb gravatar imagecorb ( 2015-05-01 06:06:19 -0500 )edit

Thanks! I solved it.

Yantian_Zha gravatar imageYantian_Zha ( 2015-05-03 20:19:34 -0500 )edit

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Asked: 2015-04-30 02:57:53 -0500

Seen: 144 times

Last updated: Apr 30 '15