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Moveit Interactive marker doesn't move

asked 2018-02-07 11:34:58 -0600

automatic_engineer gravatar image

Hi everyone, I'm trying to use moveit over a little 3d printed arm the problem that I've is that when i try to planning a trajectory the interactive marker doesn't follow the mouse, so for move the robot I need to use the arrows that surround the interactive marker, but here the problem is that i can move it just in i plan, while if I right-click over interactive marker and select "random" i get a position that is it in a different plan. So I think the problem is it the urdf file but I'm pretty new so i can't understand where I get wrong, I would upload the urdf file but I've no enough points. Can anyone help me ? thanks

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answered 2020-05-09 15:40:58 -0600

Ricardo Pinto gravatar image

This is an old question, but it's older than my ROS experience... So I hope this answer helps future ROS developers.

I have no idea how your robot looks, but I will guess it is the same problem I got in the past.

When you move the iterative marker(blue sphere) the planner will try to calculate every position+orientation for where you are trying to grab to. And it assumes that you want to keep the orientation and just change the end-effector position, so it's very easy that your robot cant be in some "middle" positions+orientations and it denies from moving.

Well, that iterative marker is designed for 6 DoF robotic arms, so that's not a bug. I think you can grab it if you allow it to select approximately locations+orientations in the Planning menu, but it depends on your robot movement...

(i can't upload an image directly here...) Moveit GUI

It can be in the Context menu in older versions of moveit

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Asked: 2018-02-07 11:34:58 -0600

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Last updated: May 09 '20