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Help required for using Moveit on custom mobile robot with arm

asked 2015-09-03 11:58:29 -0500

vamshi gravatar image

updated 2015-09-04 04:06:57 -0500

Hi, I am currently using moveit to control my custom robot. After going through the nice tutorials in moveit official website, I am able to control & visualize the robot in rviz.

However, I got struck at the following problem:-

The robot being programmed is a mobile robot equipped with a 6 axis articulated arm. For motion planning of arm, two joint groups have been created using moveit assistant. One group includes all joints corresponding to the arm & the other group consisting of all the arm joints along with X & Y odometry (modeled as prismatic joint) of mobile robot.

All the joint positions (mobile robot+arm) are updated by publishing on default /joint_states topic of move_group. Using the movegroup API & motion planning plugin, I was able to get planned paths for given goal & execute the trajectory on the robot by implementing FollowJointActionTrajectory server.

However, the problem I face is as follows:-

When the mobile robot base is driven to a different location from origin, and I try to plan the arm's end-effector to a new goal position, the planned path is shown with the arm fixed at origin (or starting position) independent of the current arm position. I feel that move_group interface is using only the joint angles of the arm to try reach the goal position and hence could not update the base link's XYZ position of the articulated arm. Is there any way to programmatically update (or translate) the base link to a new XYZ position so that the planned path is displayed with respect to the mobile robot's current (X,Y) position.

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answered 2015-09-04 04:15:21 -0500

vamshi gravatar image

updated 2015-09-05 09:55:28 -0500

SOLVED:

Each planned path requires both start & goal positions as input. I failed to make note that the start position is not taken as current position by default for any given goal. In fact the start position remains same as the last manually updated start position.In my case, as I was not manually updating start position to current position for each new goal, the default (0,0,0) position is taken as start position for any planned path.

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Asked: 2015-09-03 11:58:29 -0500

Seen: 485 times

Last updated: Sep 05 '15