moving the arm towards the object

asked 2019-07-29 10:45:52 -0500

k5519995 gravatar image

Hi all,

I am working on ROS-kinetic-moveit package. I want to grasp the door-handle. The door handle is already detected by the PCL. It has a separate package for that.

In moveit package I have configured sensor and it also giving me the PointCloud Occupancy Map including the door-handle, when I launch the camera and door-handle detection file. Base frame is set as world and I have now both the transform of arm and door-handle.

Now, my question is how can I move my arm and end-effector towards that handle only for grasping?

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Comments

I recommend to take a look at turtlebots pick_and_place.py. Use the position from the transform for "target_pose".

Humpelstilzchen gravatar imageHumpelstilzchen ( 2019-07-29 12:19:13 -0500 )edit

I have seen the code. In that "target_pose" is already defined by the user. In my case, the "target_pose" is varying. And position and orientation of "target_pose" are given by a topic. So can I subscribe to that topic, instead of giving it manually?

k5519995 gravatar imagek5519995 ( 2019-07-29 14:54:09 -0500 )edit

Sure, why not?

Humpelstilzchen gravatar imageHumpelstilzchen ( 2019-07-30 09:21:20 -0500 )edit

I wrote code by myself, although I am not expert in python. But I am getting the error similar like this. Do you please share me some codes which have a subscriber in move group python interface. This is the last piece of my project. I really appreciate your help.

k5519995 gravatar imagek5519995 ( 2019-07-30 09:31:23 -0500 )edit

Please share your code and the error in a new question.

Humpelstilzchen gravatar imageHumpelstilzchen ( 2019-07-30 09:33:26 -0500 )edit

Code file is here.

Error is:

Failed to import pyassimp, see https://github.com/ros-planning/movei... for more info

Traceback (most recent call last): File "/home/mp400/ros_catkin_ws/src/demo_moveit_config/src/code.py", line 21, in <module> pose_goal = rospy.subscriber('/door_handle_detection/pose_handle',geometry_msgs.msg.PoseStamped,queue_size=20) AttributeError: 'module' object has no attribute 'subscriber'

k5519995 gravatar imagek5519995 ( 2019-07-30 10:02:24 -0500 )edit

Please do the Tutorial Its "Subscriber" with a capital S. Also you need to move your code into the subscriber callback.

Humpelstilzchen gravatar imageHumpelstilzchen ( 2019-07-30 10:41:25 -0500 )edit