RVIZ only allows setting goal position in 1 axis for PhantomX Reactor Arm

asked 2018-12-05 17:34:49 -0600

accutting gravatar image

updated 2018-12-06 02:55:13 -0600

gvdhoorn gravatar image

I have a PhantomX Reactor arm running with the U2D2 controller and SMPS2Dynamixel. I have RVIZ and MOVEIT! running just fine with 1 exception. I have limited ability to set the goal position.

When I grab the "goal ball" I can drag it around the screen, but the goal position of the arm does not update. When I release the ball it jumps back to the end effector and the goal position does not update.

When I click on the directional arrow arrows to move the arm, the green and Blue arrows do the same thing. They move and then when I release the click from dragging them around they disappear.

However when I grab the red arrow and move the arrow around, the goal position of the arm moves along with the red arrow. When I release the click on the red arrow the goal position is updated.

Also when I click on the <Random Valid> position for the goal position the arm randomly selects a goal position.

The arm successfully plans and executes movement from its current position to any goal position without limitations. However I have serious limits on which goal position I can select, I can only select randomly generated goal positions or modify 1 Axis (red arrow).

Any insight would be greatly appreciated!

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I don't know this particular robot, but if it has anything less than 6 dof you may be experiencing IK difficulties.

gvdhoorn gravatar image gvdhoorn  ( 2018-12-06 02:55:33 -0600 )edit

When you select a random valid pose is it changing all the joint angles? Also does your arm initialize fully extended? In the fully extended position it's usual that the only valid first move is to move the end effector towards the Base.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-12-06 03:26:52 -0600 )edit

PeteBlackerThe3rd When I select <Random Valid> all of the joint angles change. On initialization the arm appears in RVIZ reflected as it is in reality. There is no change from the first command to subsequent commands.

accutting gravatar image accutting  ( 2018-12-06 19:06:25 -0600 )edit

Are you able to record a screencast and upload it so we can see what's happening? I'm having a bit of difficulty understanding what's going on.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-12-07 04:37:50 -0600 )edit