ABB1600 moveit package's interactive marker problem

asked 2017-04-20 05:19:56 -0600

anadgopi1994 gravatar image

updated 2017-04-21 00:15:08 -0600

rbbg gravatar image

I created a urdf file for abb1600 from it's solid works model. From the created urdf model i created a moveit package for path planning. The interactive marker are displayed in RViz, but the robot is not moving manually by using the interactive marker. The robot can be moved by setting it's target location to random valid using the RViz window. Why does I can't move the robot using interactive marker. I there any problem with my urdf file. Urdf file is given below:

<robot
  name="abb1600fixed">
  <link
    name="base_link">

    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/base_link.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0.43 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/base_link.stl" />
      </geometry>
<material name="yellow">
        <color rgba="0 1 1 1"/>
      </material>
    </collision>
  </link>
  <link
    name="link_1">
    <inertial>
      <origin
        xyz="0.0522110916695525 -0.0116596595447428 0.219021806205857"
        rpy="0 0 0" />
      <mass
        value="313.501475460279" />
      <inertia
        ixx="6.63587359870595"
        ixy="0.515106173527914"
        ixz="-2.11221297949358"
        iyy="10.7388901373012"
        iyz="0.740530408212598"
        izz="7.55760280714663" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/link_1.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0.43 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/link_1.stl" />
      </geometry>
<material name="yellow">
        <color rgba="0 1 1 1"/>
      </material>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0 0 0.124498588241869"
      rpy="-5.99300502806124E-17 1.25515289076118E-17 0.206452256913675" />
    <parent
      link="base_link" />
    <child
      link="link_1" />
    <axis
      xyz="0 0 1" />
  <limit
      effort="0" lower="-3.14159" upper="3.14159"
      velocity="2" />
  </joint>
  <link
    name="link_2">
    <inertial>
      <origin
        xyz="0.000218810035118755 -0.118285578558977 0.304043766965236"
        rpy="0 0 0" />
      <mass
        value="81.8053907250947" />
      <inertia
        ixx="5.11313205176008"
        ixy="-0.000386855628954241"
        ixz="-0.00583389751183142"
        iyy="5.16820573561185"
        iyz="-0.270153174902586"
        izz="0.204187405613655" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/link_2.stl" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0.43 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/link_2.stl" />
      </geometry>
<material name="yellow">
        <color rgba="0 1 1 1"/>
      </material>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.149999999999999 -0.0659525068407448 0.362001411758124"
      rpy="0 0.0230546967775394 -8.32888606742615E-16" />
    <parent
      link="link_1" />
    <child
      link="link_2" />
    <axis
      xyz="0 -1 0" />
<limit effort="0" lower="-1.5708" upper="2.0944" velocity="2.79253"/>
  </joint>
  <link
    name="link_3">
    <inertial>
      <origin
        xyz="0.0209221142022526 0.0798430140954487 -0.0133252998010642"
        rpy="0 0 0" />
      <mass
        value="128.425367075978" />
      <inertia
        ixx="0.90599816981285"
        ixy="0.0630582452212166"
        ixz="-0.0217303698948416"
        iyy="2.04367697062742"
        iyz="0.068044178943852"
        izz="2.06289905209547" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://abb1600fixed/meshes/link_3.stl" />
      </geometry>
      <material ...
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Comments

Are you sure you have an IK Solver configured? IIRC the random targets are set as joint values, so that should still work. Also, do you see any logging messages that indicate a problem? I would expect there to be something.

rbbg gravatar imagerbbg ( 2017-04-21 00:17:04 -0600 )edit