Control a manipulator in Moveit! with an unfixed base

asked 2019-06-13 08:15:12 -0600

updated 2019-06-13 09:15:41 -0600

Hello developers!

I want to create a application where I have a manipulator on top of a Husky UGV. My idea is the same as in the video: example.

I want to develop this in Moveit! + ROS + Gazebo, so my questions are:

1 - Is it possible to create this aplication using those softwares?

2 - In Moveit!, what is the fatest IK plugin capable to handle such problem?


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MoveIt is generally used to control manipulator chains (e.g. robot arm). You can attach a robot arm on a mobile robot by combining their URDF descriptions, then use MoveIt to control the arm. For the mobile robot, however, you may need another way to control. It shouldn't be hard though, because you won't need IK for the mobile robot.

hansolo gravatar image hansolo  ( 2019-06-24 04:08:50 -0600 )edit

Thanks! But I already try this. My problem is not the mobile robot, but the speed from IK. Is it possible to use moveit with a unfixed base (changing all the time)? @hansolo

kaike_wesley_reis gravatar image kaike_wesley_reis  ( 2019-06-25 11:28:47 -0600 )edit

Yes, it should be alright as long as you update the TF information. You should publish the latest pose of the arm base to the /tf topic manually. I can't compare the IK packages of MoveIt, but changing the base frame does not affect the IK performance. If it works well with a fixed base, it should work well with a moving base (If the base is not moved by MoveIt).

hansolo gravatar image hansolo  ( 2019-06-25 11:56:52 -0600 )edit

@kaike_wesley_reis I want to achieve the same. Were you able to solve this?

RobTool gravatar image RobTool  ( 2020-04-25 08:37:32 -0600 )edit

@RobTool My team used only IK from MoveIt or Pybullet. The Path planning turns the process slower.

kaike_wesley_reis gravatar image kaike_wesley_reis  ( 2020-04-25 09:24:52 -0600 )edit

Thanks @kaike_wesley_reis

Does it mean that it is not a good idea to simulate the mobile robot in MoveIT with Robotic arm?

RobTool gravatar image RobTool  ( 2020-04-25 10:31:31 -0600 )edit

@RobTool Could be, but I did not participate in this project. My main points are: MoveIt work with a complete pipeline: IK, Collision detection and path planning. Given a necessity to always change your base, this pipeline could turn this process slower. I recommend to look pybullet or apply @hansolo answer.

kaike_wesley_reis gravatar image kaike_wesley_reis  ( 2020-04-26 06:24:57 -0600 )edit