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RViz gets Moveit setup assistant's poses wrong

asked 2020-01-23 09:20:08 -0500

argargreg gravatar image

updated 2020-01-23 17:01:16 -0500


I have created a Moveit config package using the moveit_setup_assistant, containing several poses for my 6dof arm. However, when executing these poses using:

roslaunch simple6dofarm_config demo.launch rviz_tutorial:=true

The poses are wrong, as can be seen on these two comparisons for example: Reference pose in Moveit assistant vs Reference pose in RViz And Hip left pose in Moveit assistant vs Hip left pose in RViz

What's going on ?

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And please attach your screenshots to the question directly. I've given you sufficient karma for that.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-23 11:24:12 -0500 )edit

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answered 2020-01-23 11:23:32 -0500

gvdhoorn gravatar image

There's a chance this could be a locale issue. Note how in the MSA, decimals are separated by a . (ie: dot). But in RViz, it's , (ie: comma). In your terminal, it's dots again.

I don't know whether this is the cause, but it might be worth checking.

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Thanks for your answer - and for enabling me to upload the pictures. That's a great idea, however wouldn't the elbow position be 1.77 rad instead of 1 (1560 modulo pi) ? Also, in a python shell float("0,6") generates an error while float("0.6") does not :/ (but if I'm missing something, how to change RViz's locale?)

argargreg gravatar image argargreg  ( 2020-01-23 17:00:45 -0500 )edit

I'm not sure what you mean with the modulo comment: if locale is incorrectly configured, floating nrs will just get truncated (at best). There is no (intelligent) rounding.

how to change RViz's locale?

You could export LC_NUMERIC=en_US.UTF-8 in a terminal and then start RViz / your launch file from that same terminal. But as I wrote: I'm not sure this is a locale issue. I just noticed the different decimal separators.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-24 04:27:10 -0500 )edit

Eagle eye! That worked like a charm. Thanks a lot for your help, add that comment to an answer, I'll accept it gladly :)

argargreg gravatar image argargreg  ( 2020-01-27 04:11:00 -0500 )edit

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Asked: 2020-01-23 09:20:08 -0500

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Last updated: Jan 23 '20