Kinect with UR5 avoiding collisions

asked 2017-07-05 10:02:14 -0500

Thadeu Brito
15 ●4 ●6 ●8

I would like to create a system that evaluates a real space using a Kinect and simulate an UR5 that deflects from obstacles using MoveIt !.

Currently I've done a simulation using Rviz and MoveIt! In this visualization I have the point cloud and the manipulator together, however the manipulator does not avoid collisions with obstacles.

In fact, if anyone needs more information to help me, I can send photos or videos.

Could someone tell me what steps I should take?

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answered 2017-07-07 14:27:09 -0500

Jeremy Zoss

4976 ●48 ●48 ●73 http://rosindustrial.org/

Have you followed the steps listed on the MoveIt Tutorials page: 3D Perception/Configuration? In particular, you need to configure a few additional launch file settings in your MoveIt package to properly integrate the point clouds with MoveIt:

1) Create a <moveit_package>/config/sensors.yaml file:

sensors: 
 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
   point_cloud_topic: /kinect/depth_registered/points
   max_range: 5.0
   point_subsample: 1
   padding_offset: 0.1
   padding_scale: 1.0

2) Edit the existing <moveit_package>/launch/<myrobot>_moveit_sensor_manager.launch.xml file:

<rosparam command="load" file="$(find <myrobot>_moveit_config)/config/sensors.yaml" />

3) Edit the existing <moveit_package>/launch/sensor_manager.launch.xml file to set octomap config:

<param name="octomap_frame" type="string" value="world_frame" />
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />

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Yes, I tried. I also changed point_cloud_topic: /camera/depth_registered/points

Thadeu Brito ( 2017-07-07 15:00:56 -0500 )edit

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answered 2017-07-09 13:47:59 -0500

Thadeu Brito
15 ●4 ●6 ●8

I was able to make OctoMap work, however the moveIt does not recognize as an obstacle. Any suggestions on how to enable the collision?C:\fakepath\rviz_screenshot_2017_07_09-19_43_35.png

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Hi @Thadeu Brito, apologies for re-opening this thread a year later.

How did you manage to make the OctoMap work? Can you remember what changes you made?

nisur ( 2018-07-13 03:26:36 -0500 )edit

1

Hi @nisur, no problem in re-open this question. Yes, I got it! I don't remerber exactly all the steps, but I remember my mistakes. However I dont have much "characters" to explain it. Please, open one question and send it to me. I will be happy to help you!

Thadeu Brito ( 2018-07-16 09:14:45 -0500 )edit

Hi Thadeu, thanks for the reply. This is my question: https://answers.ros.org/question/2950... .

I completed all the steps in your post ^^ but cannot display the octomap. I will upload my packages to github and comment here tonight. Thanks!

nisur ( 2018-07-16 09:34:56 -0500 )edit

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