Moveit Markers not working properly
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 ...
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_controller
to control individual joints: http://wiki.ros.org/rqt_joint_traject...