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Rosbagging MoveIt! Best practise

asked 2016-11-06 10:19:34 -0500

Simon Schmeisser gravatar image

updated 2016-11-06 10:20:19 -0500

Hi Everybody

Every once in a while I see some strange movements executed by our robots (mitsubishi, fanuc, ... - industrial 6-axis). Since execution has continued already it's of course difficult to debug this. I would like to be able to record both what I told the robot to do and what it then did.

I think rosbagging /joint_path_command and /joint states should do the trick. How do I play back those? I would like to see them visualized in rviz

Does anybody do this? Got some code to share?

Thanks a lot

Simon

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answered 2016-11-07 03:43:22 -0500

rbbg gravatar image

Hi Simon,

I have done something similar before and I used a publisher with type moveit_msgs::DisplayRobotState (easily visualized using the rviz RobotState plugin). It should be pretty easy to load the bag file and step through the relevant states, visualizing both the /joint_states and /joint_path_command states. Unfortunately I can't share any code on that at the moment.

Another, perhaps easier option would be to use moveit_visual_tools.

Good luck

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Asked: 2016-11-06 10:19:34 -0500

Seen: 74 times

Last updated: Nov 07 '16