Moveit Markers not working properly

asked 2018-03-21 12:17:33 -0500

AndreCorreia gravatar image

updated 2018-03-21 14:17:09 -0500

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)

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