has anyone tried descartes on the odroid xu4

asked 2018-03-24 12:54:58 -0500

Chibike gravatar image

updated 2018-03-24 15:01:11 -0500

gvdhoorn gravatar image

Hi All,

If anyone has successfully used descartes on the odroid xu4, please let me know how.

OS: Ubuntu Mate 16.04 ROS Distro: Kinetic ROS-I stack: ABB

Many thanks.


Edit: I tried the descartes example at this url https://github.com/ros-industrial-con... on the odroid-xu4, and these are the results I got.

$ roslaunch descartes_tutorials setup.launch

... logging to /home/odroid/.ros/log/244b431a-d0df-11e5-8bf2-001e0631d8d4/roslaunch-odroid-2043.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://odroid:33239/

SUMMARY
========

PARAMETERS
 * /controller_joint_names: ['joint_1', 'join...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'j...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.05
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/manipulator/projection_evaluator: joints(joint_1,jo...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: abb_irb2400_manip...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 1.0
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 2.618
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 1.0
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 2.618
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 1.0
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 2.618
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.0
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 6.2832
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.0
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 6.2832
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 1.0
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 7.854
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /rviz_odroid_2043_1528358132/manipulator/kinematics_solver: abb_irb2400_manip...
 * /rviz_odroid_2043_1528358132/manipulator/kinematics_solver_attempts: 3
 * /rviz_odroid_2043_1528358132/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_odroid_2043_1528358132/manipulator/kinematics_solver_timeout: 0.005

NODES
  /
    industrial_robot_simulator (industrial_robot_simulator/industrial_robot_simulator)
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_odroid_2043_1528358132 (rviz/rviz)
    rviz_odroid_2043_689057974 (rviz/rviz)

auto-starting new master
process[master]: started with pid [2053]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 244b431a-d0df-11e5-8bf2-001e0631d8d4
process[rosout-1]: started with pid [2066]
started core service [/rosout]
process[industrial_robot_simulator-2]: started with pid [2079]
process[joint_trajectory_action-3]: started with pid [2084]
process[robot_state_publisher-4]: started with pid [2085]
process[move_group-5]: started with ...
(more)
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Comments

Please clarify how this is related to #q286404. If it isn't, then please clarify what problems you are having, what you did, what happened, etc.

In principle compiling the package and using the libraries in your own node should work, regardless of cpu arch. If it doesn't, then please provide info.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-24 13:26:34 -0500 )edit

Please do not post answers, unless you are answering your own question.

As I asked in #q286404, can you start RViz stand-alone? Does it also crash with a SEGFAULT?

MoveIt on ARM architectures can be difficult, but let's first check RViz.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-24 15:08:34 -0500 )edit