Moveit joint state not publishing for Drone

asked 2018-07-04 09:22:07 -0500

limwenyao gravatar image

I created a drone model that is cuboid and represented it as a floating joint with 6DOF using the moveit setup assistant. I cannot seem to get joint_state readings or any data that is able to transform the drone's position within moveit. I tried publishing to the tf2 topic the drone IMU data with modified parent/child link, but the drone still does not follow. Based on my understanding, the /move_group node processes sensor_msgs/JointState from rostopic /joint_state and updates the position states of joints in moveit. However, since the drone's joint has 6DOF, we are using sensor_msgs/MultiDofJointState to represent the joint state. image description

Using moveit commander get_current_state() method, it reports "Joint values for monitored state are requested but the full state is not known" joint_state is empty while multi_dof_joint_state has the drone joint as expected. Attempting to do execute any planning results in Error. image description

My guess is that the multi dof joint state of "drone" is not updating and hence, moveit rejects planning. Is there a way which (assuming I have IMU data) I can update the multi dof joint state of "drone" such that it shows the drone's position being updated with IMU data?

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jayess gravatar imagejayess ( 2018-07-04 10:36:11 -0500 )edit