MoveIt motionplanning and gripper_action
Hello guys,
I'm writing on my bachelor thesis and I've got some problems according to moveIt and it's implemention. I managed to write a controller and actionserver for moveing the arm by analyzing the FollowjointTrajectorymsgs and now I want to implement the gripper. I allready wrote a SimpleActionServer for the Gripper using the GripperCommand but I don't know how to send the Pick/Place request without using Gazebo. Till now I roslaunch the movegroup, moveitrviz, the actionservers and my node to connect the arm via ethernet. How can I generate a manipulatable Object in RVIZ which I can pick/place?
Thank you in advance
Asked by Gwydyon on 2018-05-14 08:11:44 UTC
Comments
So you're working with a real arm and you need an object to pick and place? I may be missing something but do you mean a real physical object on your table for the robot to work with? Or are you talking about objects in the collision scene for MoveIt?
Asked by PeteBlackerThe3rd on 2018-05-14 12:35:34 UTC
Yes, I'm working with a real arm. First I want to lift something in RVIZ and the robot to repoduce the virtual behavior. So I need something in the "virtual" world. I guess it's the collision scene?
Asked by Gwydyon on 2018-05-14 13:45:56 UTC
You'll need gazebo to do this RVIZ isn't a simulation environment only a visualiser. We do a similar thing in our lab with real objects and only preview each step of the plan in RVIZ before the real arm does the move.
Asked by PeteBlackerThe3rd on 2018-05-14 15:23:08 UTC