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Ik fast moveIt [closed]

asked 2016-01-04 04:54:45 -0500

Chickenman gravatar image

updated 2016-01-04 14:33:44 -0500

Hi

I am creating Ikfast plugin for my robotic manupulator. I am following this tutorial http://docs.ros.org/indigo/api/moveit... . Here is my moveit demo launch everything should be correct. moveit.jpg KDL work fine but I needed to setup smaller resolutions and I am not satisfied with it I used collada to change urdf to dae file. Collada generated dae file without any errors or warnings but wen I openrave name.dae The model looks horrible dae.jpg But it was not problem for me because i wanted just IK c++ file created so I typed

openrave-robot.py kv01.dae --info links

and it wrote correctly

base_link       0                  
wheel_frame_l   1     base_link    
wheel_lp        2     wheel_frame_l
wheel_lz        3     wheel_frame_l
wheel_frame_r   4     base_link    
wheel_pp        5     wheel_frame_r
wheel_pz        6     wheel_frame_r
scan            7     base_link    
veza            8     scan         
camera_l        9     veza         
camera_r        10    veza         
camera          11    camera_r     
model_klb1      12    base_link    
model_klb2      13    model_klb1   
model_klb3      14    model_klb2   
model_klb4      15    model_klb3   
model_klb5      16    model_klb4   
model_klb6      17    model_klb5   
uchopenie_lavo  18    model_klb6   
uchopenie_pravo 19    model_klb6   
menic5_6        20    model_klb5   
link_4_5        21    model_klb4   
link_4_5x       22    model_klb4   
link_3_4        23    model_klb3   
link_2_3        24    model_klb2   
menic2_3        25    model_klb2

The informations are correct and my arm is made from Baselink -> model_klb1- model_klb6 so I typed to create cpp file:

python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=kv01.dae --iktype=transform6d --baselink=0 --eelink=17 --savefile=ikfast64_kv01.cpp

I got this error

    [plugindatabase.h:929 _SysLoadLibrary] /usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.so: libconfigurationcache.so: cannot open shared object file: No such file or directory
[plugindatabase.h:857 _LoadPlugin] failed to load: /usr/local/share/openrave-0.9/plugins/openravepy_configurationcache.so
[colladareader.cpp:2130 FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
[colladareader.cpp:2130 FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
[colladareader.cpp:2130 FillGeometryColor] transparecy is 1.000000, which means the item will be rendered invisible, this must be a mistake so setting to opaque (1)
/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py:1437: RuntimeWarning: invalid value encountered in divide
  axisangle /= angle
INFO: moved translation Matrix([[0, 0, 19/100]]) to right end
INFO: moved translation Matrix([[0, 0, -129/500]]) to left end
INFO: moved translation on intersecting axis Matrix([[0, 0, -31/200]]) to left
INFO: [[1, 0, 0, 0],[0, -1, 0, 0],[0, 0, -1, 169/500]]
INFO: [[cos(j6), -sin(j6), 0, 0],[sin(j6), cos(j6), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, -1, 0],[0, 1, 0, 0]]
INFO: [[cos(j7), -sin(j7), 0, 0],[sin(j7), cos(j7), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, -1, 0, -97/200],[0, 0, -1, 0]]
INFO: [[cos(j8), -sin(j8), 0, 0],[sin(j8), cos(j8), 0, 0],[0, 0, 1, 0]]
INFO: [[1, 0, 0, 0],[0, 0, -1 ...
(more)
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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by tfoote
close date 2017-04-20 13:59:23.796400

Comments

Please add your python-sympy version, also can you link your dae-file (also on the openrave ml)

Humpelstilzchen gravatar image Humpelstilzchen  ( 2016-01-04 12:34:09 -0500 )edit

Just a wild guess: You start with baselink=0 which includes all the wheels in the tree, I don't know how openrave handles this. Try to add a link, e.g. armbase and start from there.

Also openrave is very picky about the openrave version. Try to use the recommended version (0.7.1 for me).

Humpelstilzchen gravatar image Humpelstilzchen  ( 2016-01-06 02:11:51 -0500 )edit

Thanks for answer I already tried to put another link and fixed joint after all wheels and create another fake base but it did not help.

Chickenman gravatar image Chickenman  ( 2016-01-06 02:22:58 -0500 )edit

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answered 2016-01-04 05:28:04 -0500

This question is very specific to OpenRAVE and it is recommended you post it to the OpenRAVE users mailing list: http://openrave-users-list.185357.n3....

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Comments

Thank you for your advice. Here is the post maybe it could help someone too http://openrave-users-list.185357.n3....

Chickenman gravatar image Chickenman  ( 2016-01-04 12:00:40 -0500 )edit

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Asked: 2016-01-04 04:54:45 -0500

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Last updated: Jan 04 '16