moveit cant control real robot(phantomx pincher)

asked 2018-01-29 08:01:08 -0500

huseyin_26 gravatar image

updated 2018-01-31 02:44:08 -0500

Hi I am using ros kinetic in ubuntu 16.04 lts. I try to control phantomx_pincher robot arm from rviz. I downloaded https://github.com/turtlebot/turtlebo... and also arbotix package. Firstly , ı wrote arbotix_terminal and it found 5 servo as i expected. After that i write roslaunch turtlebot_arm_bringup arm.launch and lastly arbotix_gui . I can control all servos from arbotix_gui. When ı write roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch for controlling from rviz ı couldnt and ıt gives this message.

Is there any idea ?

... logging to /home/huseyin/.ros/log/3bd3667a-05b2-11e8-a0ae-cc2f718db210/roslaunch-huseyin-3256.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://huseyin:40565/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/controller_list: [{'joints': ['arm...
 * /move_group/gripper/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric ...
(more)
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Comments

4

Please edit your question provide enough information to reproduce exactly what you are doing with all the commands you're running as well as the errors you're receiving. Guidelines for asking questions can be found here: http://wiki.ros.org/Support

tfoote gravatar image tfoote  ( 2018-01-29 12:29:26 -0500 )edit
1

@huseyin_26: please use the preformatted text (101010) button to properly format your terminal output. Right now it's unreadable which is part of what @tfoote was commenting about.

jayess gravatar image jayess  ( 2018-01-30 10:42:09 -0500 )edit

The launch file seems ok, what do you mean by you couldn't control the robot? What is the error message?

weitang gravatar image weitang  ( 2018-01-30 14:18:35 -0500 )edit

sorry guys i dont used to use here so i can do some mistake. When i click plan and execute , real robot arm does not move. But i can control with arbotix_gui.

huseyin_26 gravatar image huseyin_26  ( 2018-01-31 01:13:22 -0500 )edit
1

You're going to have a tough time getting answers if you don't put in minimal effort to make a question that conforms to the standards of the site. Two people have already suggested how to ask/format your question. Please read the link that @tfoote linked to.

jayess gravatar image jayess  ( 2018-01-31 01:42:14 -0500 )edit

okey, i think i did.

huseyin_26 gravatar image huseyin_26  ( 2018-01-31 02:14:27 -0500 )edit
1

And , Do you have any idea about this problem ?

huseyin_26 gravatar image huseyin_26  ( 2018-01-31 02:14:44 -0500 )edit

and in our robotic arm we not using dynamixel servos so help us please community

lagankapoor gravatar image lagankapoor  ( 2018-01-31 02:25:12 -0500 )edit
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