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MOVEIT robot_state; current velocities and accelerations/effort

asked 2016-07-18 14:13:20 -0500

pascal gravatar image

updated 2016-07-18 14:17:35 -0500

i need the updated robot state (including velocities and accelerations/efforts) of my 6dof arm in moveit.

when i query the current robot state using getCurrentState() of the moveit::planning_interface::MoveGroup class, i get a robot state that contains the current joint positions (they update when i execute plans on my arm in simulations and in real as expected). However, the joint velocities and accelerations/efforts contain an empty array; [ ].

I tried to call startStateMonitor() befor querying the robot state but velocities/accelerations or efforts are still empty.

a work around would be to subscribe to the /joint_states topic and update the current robot state "manually" using setVariableValues() of the moveit::core::RobotState class that takes directly a JointState message.

the reason i'm looking into this is that i need a robot state with at least the joint positions to use the moveit api to compute the jacobian of my arm. further i need the current velocities to map cartesian velocities from a joystick to joint velocites. as i said, i could just subscribe to joint_velocities but i'd like moveit to update the robot state on its own.

am i missing something or is it really necessary to update the robot state "manually" to get the current velocities and accelerations/efforts?

Thanks in advance,

Pascal

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Comments

I have the exact same problem!

alainsanguinetti gravatar image alainsanguinetti  ( 2016-07-27 02:12:07 -0500 )edit

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answered 2016-07-27 02:25:30 -0500

alainsanguinetti gravatar image

updated 2016-07-27 02:41:46 -0500

Hello,

I checked and in indigo you indeed have to manually set the values : https://github.com/ros-planning/movei...

It is available/fixed in Jade https://github.com/ros-planning/movei...

You have several options from here:

  1. Ask the maintainers to put the feature in indigo as well, but maybe it is breaking the ABI, in this case, they won't accept.
  2. Upgrade to ROS jade
  3. Create your own monitor

I hope that this answer your question!

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Asked: 2016-07-18 14:13:20 -0500

Seen: 780 times

Last updated: Jul 27 '16