pub a joint angles to baxter_moveit_stomp_trac_ik [closed]

asked 2017-07-18 03:12:00 -0600

birlliyi gravatar image

updated 2017-07-19 02:20:16 -0600

Hi at all,when i roslaunch baxter_moveit_stomp_trac_ik_config demo.launch and pub the joint angles goal to moveit :

using namespace std;
boost::shared_ptr<moveit::planning_interface::MoveGroup> group;
void testPlaceTarget(string namedTarget ,int sleepTime)
{
    ros::AsyncSpinner spinner(1);
    spinner.start();
    group->setMaxVelocityScalingFactor(0.5);
    group->setMaxAccelerationScalingFactor(0.5);
    group->setNamedTarget(namedTarget);       //group->setPoseTarget(goalPose);
    group->move();
    sleep(sleepTime);
    spinner.stop();
}
void testTargeByJointAngel(int sleepTime)
{
    ros::AsyncSpinner spinner(1);
    spinner.start();
    moveit::planning_interface::MoveGroup::Plan planner;
    bool is_success;
    vector<double> joint_angles(7);
    joint_angles[0]=-0.6699952259595108;
    joint_angles[1]=1.030009435085784;
    joint_angles[2]=0.4999997247485215;
    joint_angles[3]=-0.189968899785275;
    joint_angles[4]=1.9400238130755056;
    joint_angles[5]=0.08000397926829805;
    joint_angles[6]=-0.9999781166910306;
    group->setJointValueTarget(joint_angles);
    is_success=group->plan(planner);
    if(is_success)
    {  group->move(); }
     else
    {  cout<<"Move to place pose: Planning fail!"<<endl; }
    sleep(sleepTime);
    spinner.stop();
}
int main(int argc, char **argv)
{
     ros::init(argc,argv,"test");
     ros::NodeHandle nh;
     group.reset();
     group = boost::make_shared<moveit::planning_interface::MoveGroup>("right_arm");
     group->setPoseReferenceFrame("/base");
     group->setMaxVelocityScalingFactor(0.5);
     group->setMaxAccelerationScalingFactor(0.5);
     testTargeByJointAngel(0.2);
     return 0;
}

then show the error:

[ERROR] [1500364396.767677864]: Found empty JointState message
[ERROR] [1500364396.767731905]: Found empty JointState message
[ERROR] [1500364396.768128614]: Found empty JointState message
[ERROR] [1500364396.789180781]: Found empty JointState message
[ERROR] [1500364396.789299823]: STOMP Failed to extract start state from MotionPlanRequest
[ERROR] [1500364396.789350698]: STOMP failed to get the start and goal

Hope that someone here can help me ,thanks.

LiYI

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Closed for the following reason duplicate question by birlliyi
close date 2017-07-29 04:12:48.515586

Comments

If you open MoveIt setup assistant and load in your robot, and go to virtual joints, do you have a joint connecting the robot base to the world? Or this link may help http://answers.ros.org/question/61759...

cvancleef gravatar image cvancleef  ( 2017-07-18 11:21:32 -0600 )edit

yes, thank you ,i have change the joint connecting in the setup assistant and no longer have that warning , but i do not know how to solve the error about stomp ,thank you again.

birlliyi gravatar image birlliyi  ( 2017-07-19 02:31:51 -0600 )edit

Could you try this after you initialize group?

 robot_state::RobotState start_state(*group.getCurrentState());
 group.setStartState(start_state);
cvancleef gravatar image cvancleef  ( 2017-07-19 06:41:43 -0600 )edit