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Best way to use Moveit for teleoperation?

asked 2016-02-17 13:26:59 -0500

Airuno2L gravatar image

I've seen this topic discussed a bit here, and on the MoveIt! mailing list here and here, but those conversations are pretty old now and I'm wondering if there is a clearer answer now.

I have a 7 DOF arm I would like to teleoperate. I plan on using a 3D mouse to command the Cartesian motion of the end effector and utilize the redundancy of the arm so the whole arm avoids collisions with itself and the environment. By teleoperation I mean that as I push the 3D mouse forward for example, the end effector moves forward seemly in real-time, then when I release the mouse the motion stops. I think guarded fly-the-gripper is a term that best describes it. If I had to guess I would say an update rate of 30Hz would be plenty fast. Right now I'm simplifying things by not using any hardware - only simulating in MoveIt using a simple environment (e.g. a single block to reach around).

I assumed that MoveIt's most popular use case of plan-then-execute position control wouldn't suffice, I'm guessing that giving discrete positions as input would not provide the streaming/constant motion I desire. I jumped in trying to implement something from scratch using KDL's velocity inverse kinematics solvers but quickly realized that MoveIt does a lot of really useful stuff under the hood that I wasn't utilizing that I'm not sure how to implement for velocity control. I decided I better take a step back and ask for help before getting to deep.

Does anyone have any advise on doing something like this? Do those above posts still hold true or is there new capabilities I should be aware of? Maybe you know of an open project that has done something similar? Let me know if I should provide more information about what I've tried so far.

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answered 2016-02-18 06:09:12 -0500

kramer gravatar image

You might want to look at the trac_ik ROS package, either in whole or any of the individual parts.

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Thanks for the advise, I went ahead and installed and tried out the trac_ik solver and it does seem to do a better job than KDL, but I'm not really having problems with IK. I'm having problems understanding the best way to do live/streaming teleop using MoveIt's architecture.

Airuno2L gravatar imageAiruno2L ( 2016-02-18 15:10:46 -0500 )edit

Hi, I am trying to do the same .. did you make any progress.. I could use some help here ... :)

ZainMehdi gravatar imageZainMehdi ( 2016-10-21 15:47:40 -0500 )edit

Unfortunately no, I didn't make any progress on this.

Airuno2L gravatar imageAiruno2L ( 2016-10-25 05:49:02 -0500 )edit

Hey guys, just bumping the question. Did any of you manage to come up with some working solution? I was thinking about providing small position changes to moveit, but I am worried the movements might not be very smooth...

zeroos gravatar imagezeroos ( 2017-01-18 14:26:42 -0500 )edit

@zeroos I am not working on it nowadays but if you are interested we can work together and come up with a solution. Let me know if you are inetersetd.

ZainMehdi gravatar imageZainMehdi ( 2017-01-18 15:38:21 -0500 )edit

@ZainMehdi yeah, if you have any suggestions/ideas I would be more than happy to hear about them!

zeroos gravatar imagezeroos ( 2017-01-19 01:10:32 -0500 )edit

@zeroos Please share your email ID. I will start working on it again and will update you about my progress. It would be nice to hear from you too :)

ZainMehdi gravatar imageZainMehdi ( 2017-01-19 01:27:53 -0500 )edit

@ZainMehdi I have actually found this paper in one of the links provided at the beginning of the question: http://workshops.acin.tuwien.ac.at/cl... . It summarizes the problem nicely. I think I'd try to follow the MP solution and see how fast it can get on my robot.

zeroos gravatar imagezeroos ( 2017-01-19 11:00:51 -0500 )edit
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answered 2018-06-12 14:24:54 -0500

AndyZe gravatar image

The jog_arm package does this well.

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Asked: 2016-02-17 13:26:59 -0500

Seen: 836 times

Last updated: Jun 12 '18