MoveIt motionplanning and gripper_action

asked 2018-05-14 08:11:44 -0500

Gwydyon gravatar image

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 action_server for moveing the arm by analyzing the FollowjointTrajectory_msgs 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 move_group, moveit_rviz, 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

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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?

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-05-14 12:35:34 -0500 )edit

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?

Gwydyon gravatar imageGwydyon ( 2018-05-14 13:45:56 -0500 )edit

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.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-05-14 15:23:08 -0500 )edit