Get moveit + teleoperation to work [closed]

asked 2019-12-17 09:43:28 -0600

Eisenhorn gravatar image

updated 2019-12-18 02:45:21 -0600

Hello,

I am experiencing issues getting the teleoperation, which is started with joystick_control.launch file in the corresponding moveit package of the robot, to work with moveit.

The initial setup only consits of 1 move_group called arm with no eef.

This caused the first problem, as it was stated that there is no move_group. The specific funtion what causes this is self.updatePlanningGroup (see http://docs.ros.org/melodic/api/movei...). I could bypass this by forcing the usage of arm group with index 0. But now I have troubles with the eef

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/moveit_ros_visualization/moveit_joy.py", line 42, in <module>
    app = MoveitJoy()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 386, in __init__
    self.updatePoseTopic(1, False)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 426, in updatePoseTopic
    next_topic = topics[self.current_eef_index]
IndexError: list index out of range

I have set up a second movegroup with just one link and the set up the eef. Still I get the same issue. Can someone explain to me how to use the supplied teleop node?

BR

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by Eisenhorn
close date 2019-12-20 03:03:05.162741

Comments

1

Just an observation (and perhaps some expectation management): the MoveIt joystick .launch file and interface is not a teleop interface (in the traditional sense of the word).

It only allows to move the interactive marker (which you see in the RViz MoveIt planning plugin) with a joystick or joypad. After moving it, you'd still go through the planning and execution phase (again: by clicking buttons on the joystick).

There is no on-line or real-time motion of the robot through MoveIt with this interface.

gvdhoorn gravatar imagegvdhoorn ( 2019-12-18 03:07:27 -0600 )edit

Thank you very much for this clarification gvdhoorn! Do you maybe know a package that would allow this?

Eisenhorn gravatar imageEisenhorn ( 2019-12-18 08:32:46 -0600 )edit
1

You could perhaps see whether the moveit_jog_arm package can do what you want.

Refer to Arm Jogging in Real-Time.

gvdhoorn gravatar imagegvdhoorn ( 2019-12-18 13:54:45 -0600 )edit

Thanks. I will have a look at this. I will be closing this thread now.

Eisenhorn gravatar imageEisenhorn ( 2019-12-20 03:02:41 -0600 )edit