Controlling a real robot with MoveIt

asked 2018-12-05 07:49:26 -0500

Tim_ros_user gravatar image


I try to control a UR3 with MoveIt. If i set values for every joint or set a pose as a goal everything works great. But i try to move the tool of the robot to a coordinate (x,y,z + orientation) MoveIt calculates every time a new movement. Sometimes MoveIt don't find a solution, sometimes everything is great and sometimes the robot does some very senseless movement (but reaches to goal). For example: the robot just has to move one joint but MoveIt calculates a movement with 2 rotations on the base and every joint....

Is is maybe possible to simple up the movement or to save a movement? Thanks!

my code:

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg

rospy.init_node('move_group_python_interface_tutorial', anonymous=True)

robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()    
group = moveit_commander.MoveGroupCommander("arm")
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=1)

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18

plan1 = group.plan()


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Have you tried setting all four elements of the orientation quaternion as well as just w? It's possible you have uninitialised values.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-12-05 09:34:15 -0500 )edit

You also seem quite close to the edge of the working volume of a UR3, so I wouldn't be surprised if some orientation had no solution, and complex moves are required to reach others.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-12-05 09:36:04 -0500 )edit