Moveit Markers not working properly

asked 2018-03-21 12:17:33 -0600

AndreCorreia gravatar image

updated 2018-03-21 14:17:09 -0600

jayess gravatar image

Hi! Disclaimers I am a noob at this still, only found out about moveit last week because its the next step in my UnI project. So I have my URDF:

<?xml version="1.0"?>
<robot name="multipleshapes">
    <material name="azul">
        <color rgba="0 0 1 1"/>
    </material>
    <material name="verde">
        <color rgba="0 1 0 1"/>
    </material>
    <material name="vermelho">
        <color rgba="1 0 0 1"/>
    </material>
    <material name="branco">
        <color rgba="1 1 1 1"/>
    </material>
    <material name="amarelo">
        <color rgba="1 1 0 1"/>
    </material>
    <link name="chao">
    </link>
    <link name="base_link">
        <visual>
            <geometry>
                <cylinder length="0.45" radius="0.05"/>
            </geometry>
            <material name="azul"/>
        </visual>
    </link>
    <link name="segundo_link">
        <visual>
            <geometry>
                <cylinder length="0.50" radius="0.05"/>
            </geometry>
            <material name="verde"/>
            <origin xyz="0 0 0.275"/>
        </visual>
    </link>
    <link name="terceiro_link">
        <visual>
            <geometry>
                <cylinder length="1.80" radius="0.05"/>
            </geometry>
            <material name="vermelho"/>
            <origin xyz="0 0 0.9"/>
        </visual>
    </link>
    <link name="quarto_link">
        <visual>
            <geometry>
                <cylinder length="0.30" radius="0.05"/>
            </geometry>
            <material name="branco"/>
            <origin xyz="0 0 0.15"/>
        </visual>
    </link>
    <link name="quinto_link">
        <visual>
            <geometry>
                <cylinder length="1.75" radius="0.05"/>
            </geometry>
            <material name="amarelo"/>
            <origin xyz="0 0 0.825"/>
        </visual>
    </link>
    <joint name="chao_base" type="revolute">
        <axis xyz="0 0 1"/>
        <limit effort="1000.0" lower="0.0" upper="3.14159265359" velocity="0.5"/>
        <parent link="chao"/>
        <child link="base_link"/>
    </joint>
    <joint name="base_segundo" type="fixed">
        <parent link="base_link"/>
        <child link="segundo_link"/>
        <origin rpy="0 1.57075 0" xyz="0 0 0.25"/>
    </joint>
    <joint name="segundo_terceiro" type="revolute">
        <axis xyz="0 1 0"/>
        <limit effort="1000.0" lower="0.0" upper="1.57079632679" velocity="0.5"/>
        <parent link="segundo_link"/>
        <child link="terceiro_link"/>
        <origin rpy="0 -0.75 0" xyz="0 0 0.57"/>
    </joint>
    <joint name="terceiro_quarto" type="revolute">
        <axis xyz="0 1 0"/> 
        <limit effort="1000.0" lower="0.0" upper="1.57079632679" velocity="0.5"/>
        <parent link="terceiro_link"/>
        <child link="quarto_link"/>
        <origin rpy="0 -0.5 0" xyz="0 0 1.87"/>
    </joint>
    <joint name="quarto_quinto" type="fixed">
        <parent link="quarto_link"/>
        <child link="quinto_link"/>
        <origin rpy="0 2 0" xyz="0 0 0.35"/>
    </joint>
</robot>

I launched Moveit Setup assistant loaded the URDF. Generated the selft-collision matrix. Added a virtual joint with base link: "chao" (floor in portuguese) and parent "odom_combined" and its fixed, also tried plannar but don't think the problem is in this part.

Now I have tried multiple combinations of Planning Groups and End Effectors and one combination that atleast shows ONE marker in RViz is no end effector and Planning group: Joints:(chao_base,base_segundo,segundo_terceiro,terceiro_quarto) (all the joints except the last).

Added author info and generated the package. Now when I launch it with RVIZ it only shows 1 marker that corresponds to the "terceiro_quarto" joint and its the only joint that moves. I would like to know if anyone knows how to either had more markers for the other joints or a way to make ... (more)

edit retag flag offensive close merge delete

Comments

It is unclear what you want to do. It seems that you want to put interactive markers on joints to control the joints of the robots. I don't know if you can do that, but you might want to look at rqt_joint_trajectory_controllerto control individual joints: http://wiki.ros.org/rqt_joint_traject...

fvd gravatar image fvd  ( 2020-02-26 18:52:20 -0600 )edit