Pick using ABB IRB 4600

asked 2017-04-25 11:49:07 -0500

Muneeb gravatar image

updated 2017-05-04 08:45:09 -0500

I am working on ABB IRB 4600 to pick objects using pick () function in RViz (demo.launch).I am not able to perfrom the pick operation successfully. Please have a look on the code and the error screen shot. Let me know where is the fault (Indeed there will be many ). One more thing, i am confused about pick function. How will i be able to grasp in real robot environment (for example: which will be the signal to the robot controller for actuating the real gripper ?) ..Thanks !

-I am using ROS indigo distribution on Virtual Machine.

Terminal window:

All is well! Everyone is happy! You can start planning now!

[ INFO] [1493193263.978286651]: Loading robot model 'abb_irb4600'...
[ INFO] [1493193264.266839015]: Loading robot model 'abb_irb4600'...
[ INFO] [1493193264.628610520]: Starting scene monitor
[ INFO] [1493193264.635085798]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1493193265.022800136]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1493193266.120994565]: TrajectoryExecution will use new action capability.
[ INFO] [1493193266.121268847]: Ready to take MoveGroup commands for group manipulator.
[ INFO] [1493193266.121472053]: Looking around: no
[ INFO] [1493193266.121669253]: Replanning: no
[ INFO] [1493193275.811410908]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1493193275.811901432]: Goal constraints are already satisfied. No need to plan or execute any motions
[ WARN] [1493193275.814024619]: MessageFilter [target=/base_link ]: Discarding message from [/moveit_py_demo_34759_1493193272475] due to empty frame_id.  This message will only print once.
[ INFO] [1493193279.035543565]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1493193279.037003666]: Planning attempt 1 of at most 1
[ INFO] [1493193279.042092835]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1493193279.043057525]: No planner specified. Using default.
[ INFO] [1493193279.043481971]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1493193279.047161619]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1493193279.115706032]: LBKPIECE1: Created 195 (52 start + 143 goal) states in 181 cells (51 start (51 on boundary) + 130 goal (130 on boundary))
[ INFO] [1493193279.116753885]: Solution found in 0.072920 seconds
[ INFO] [1493193279.117554352]: SimpleSetup: Path simplification took 0.000535 seconds and changed from 63 to 2 states
[ INFO] [1493193279.120179443]: Fake execution of trajectory
[ INFO] [1493193286.209656592]: Planning attempt 1 of at most 1
[ INFO] [1493193286.228656373]: Added plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1493193286.259867489]: Attaching world object 'part' to link 'link_6'
[ INFO] [1493193286.260001140]: Attached object 'part' to link 'link_6'
[ INFO] [1493193286.263661524]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1493193286.263960101]: No planner specified. Using default.
[ INFO] [1493193286.264152229]: LBKPIECE1: Attempting to use default projection.
[ INFO] [1493193286.264411434]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1493193286.311554536]: LBKPIECE1: Created 187 (146 start + 41 goal) states in 169 cells (138 start (138 on boundary) + 31 goal (31 on boundary))
[ INFO] [1493193286.314109066]: Solution found in 0.049780 seconds
[ INFO] [1493193286.314484815]: SimpleSetup: Path simplification took 0.000222 seconds and changed from 72 to 2 states
[ INFO] [1493193286.318493844]: Found successful manipulation plan!
[ INFO] [1493193286.319358039 ...
(more)
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Comments

Please do not use screenshots to show us part of your terminal window. The terminal window contains only text, which you can copy-paste into your question. Screenshots are not searchable (the text anyway) by search engines, reducing visibility of your question.

gvdhoorn gravatar imagegvdhoorn ( 2017-04-26 02:23:30 -0500 )edit

ok i edit the question

Muneeb gravatar imageMuneeb ( 2017-04-26 02:52:51 -0500 )edit

Hi, could you share your urdf file or moveit_config file of abb_irb4600 with me? It will really help me and save me a lot of time without building the urdf file, thank you~

AndyChou007 gravatar imageAndyChou007 ( 2018-04-23 10:38:23 -0500 )edit

There is already a support pkg for the IRB 4600 available here. It only includes a model for the 60/2.05 variant at the moment though.

Edit: I've removed your email address, as we like to keep discussions and solutions here on ROS Answers.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-23 10:56:39 -0500 )edit

I knew there was already a support pkg for the IRB 4600 in http://wiki.ros.org/abb_experimental , but the .xacro file cannot be open in moveit setup assistant. And now I need the abb_irb4600_moveit_config pkg, at least the 4600_60_205.urdf file I can use to create a moveit_config pkg by moveit setup

AndyChou007 gravatar imageAndyChou007 ( 2018-04-24 02:17:45 -0500 )edit

the .xacro file cannot be open in moveit setup assistant.

I'm not saying you're wrong, but last time I checked, it worked for me. If you can tell us something about the error msg you're seeing, we could potentially help.

Please post a new question for this issue btw, don't hijack this thread.

gvdhoorn gravatar imagegvdhoorn ( 2018-04-24 03:59:48 -0500 )edit

OK, I have opened a new issue just now, could you give some suggestions?

AndyChou007 gravatar imageAndyChou007 ( 2018-04-24 04:21:28 -0500 )edit

Andy! Yes I could provide my URDF file for IRB4600 (60 2.05) if you could give your email ID.

Muneeb gravatar imageMuneeb ( 2018-04-25 07:30:12 -0500 )edit