MoveIt! Setup Assistant parallel robot

asked 2018-11-14 11:45:05 -0500

BhanuKiran.Chaluvadi gravatar image

Hi,

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I am trying to understand moveit package. Currently i have a simple four bar mechanism with 4 links

1. base link  - active joint and can be rotate about y-axis
2. link1 - active joint and can be rotated about x-axis
3. link2 : mimics the link1
4. link3: mimic the link1 but in opposite direction to stay horizontal all the time.

The visualization works as expected.

Rviz

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I am interested in position control of the link3(top, horizontal, blue color ) right most end point. I am following Moveit! Setup Assistant tutorial.

In "Add Planning group: " I created a group 'arm' and added all the joints except for the virtual joint that connects the world.

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No passive joint were added.

Then i created a ros controller with all the joints and moveit is wise enough to remove mimic joints from the position controller.

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After creating the config files and launching demo.launch. image description

These are the error i received.

[ERROR] [1542216768.587967338]: Group 'arm' is not a chain
[ERROR] [1542216768.587992079]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'arm'
[ERROR] [1542216768.588105565]: Kinematics solver could not be instantiated for joint group arm.
[ERROR] [1542216768.618585152]: No sensor plugin specified for octomap updater 0; ignoring
[ERROR] [1542216768.657508087]: Could not find the planner configuration 'None' on the param server

There is also no visualization marker displayed to click and drag for planning. In case if i had to write custom IK solver please point me to some tutorials.

Any help is greatly appreciate.

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