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Show Manipulation Trajectory in Rviz

asked 2016-11-17 03:51:49 -0600

mutu gravatar image

updated 2016-11-22 06:24:42 -0600

gvdhoorn gravatar image

Hello!

I use MoveIt! to control a Kuka Youbot arm in Rviz. Apparently i used the computecartesianpath() to move the arm from point A to B. Afterwards i wanted to display the trajetory from A -> B and tried to use the Trajectory Addon in Rviz but it did not work. Do u have any ideas how i can, at least, prove that the youbot operates in a straight line? At least i know, that the computed cartesian path has 144 points and my terminal shows any jointangle for each point when i display the trajectory.


Edit: Hey!

Thanks for your fast answer Dave, that helped me a lot. Currently i try to implement the rviz plugin in my simulation model. I tried to use the computecartesianpath()-function in MoveIt! and wanted to use the publishpath-function of rviz_visual_tool afterwards to generate the path:

namespace rvt = rviz_visual_tools;
rviz_visual_tools::RvizVisualTools visual_tools("odom_combined");
...
...
double fraction = group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory);
...
visual_tools.deleteAllMarkers();
visual_tools.publishPath(waypoints, rvt::LIME_GREEN, rvt::LARGE);
for (std::size_t i=0; i<waypoints.size(); ++i)
{
     visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rvt::SMALL);
}
visual_tools.trigger();
visual_tools.prompt("next step");

When i try to compile this, i get: error: no matching function for call to "rviz_visual_tools::RvizVisualTools::publishPath(....)

Can u help me to find a solution, please?

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@mutu: please don't post answers unless you are actually answering your own question. ROS Answers works a little different from a regular forum: update your question if you have more information, or use comments under answers to interact with other users.

Thanks.

gvdhoorn gravatar imagegvdhoorn ( 2016-11-22 06:45:33 -0600 )edit

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answered 2016-11-17 12:11:30 -0600

Dave Coleman gravatar image

You want to see lines traced for the end effector location, like in this video? https://www.youtube.com/watch?v=4FSmZ...

If so see this tutorial (not merged in yet): https://github.com/ros-planning/movei...

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Asked: 2016-11-17 03:51:49 -0600

Seen: 421 times

Last updated: Nov 22 '16