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Mobile Manipulator double urdf?

asked 2020-02-19 04:52:05 -0500

makemelive gravatar image

Hello i have created a educational mobile manipulator costing less than 1000

I have some trouble trying to figure out why my arm appears twice in rviz (arm always show in start position), even when the arm has moved, also as you can see the robot model drags behind making a copy

image description

Furthermore when i plan a random valid goal with moveit a ghost robot appears in the start position

image description

I think the problem has something to do with moveit, i dont use joint state publisher, except of that of ros control My virtual joint is (robot footprint)-(link_0 of the arm) type fixed

Please help me find the solution because it's pretty annoying but the robot is functional this way too

To run on kinetic or melodic git clone rosdep install --from-paths src --ignore-src -r -y (to install depedencies from catkin_ws dir) catkin_make

maybe need to install also moveit,amcl,map server, move base

Run the demo

roslaunch lynxbot_bringup main.launch


roslaunch lynxbot_bringup sim_bringup.launch (for gazebo+ros controllers)

roslaunch lynxbot_bringup moveit.launch / amcl.launch / move_base.launch

rosrun pcl_obj pcl_main (to detect biggest cylinder and publish tf frame target)

rosrun lynxbot_bringup (to perform a grasping sequence )

rosrun lynxbot_bringup (to move the robot arm)

I have included tf_frames and node graph but nothing weird there

Thanks a lot for your help, i am waiting your advices!!!!

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Since you are using move it, I doubt that you have enabled the option of "Show Robot Visual" under the "Scene_robot" menu of motion planning in RViz, just uncheck it and try it. If it is correct, I will update this comment as my answer.

pmuthu2s gravatar image pmuthu2s  ( 2020-02-19 06:46:14 -0500 )edit

Hello, i uncheck it, didnt change the behaviour at all ^^

makemelive gravatar image makemelive  ( 2020-02-19 07:11:03 -0500 )edit

Also, you need to do the same under "Planned Path"

pmuthu2s gravatar image pmuthu2s  ( 2020-02-19 07:14:19 -0500 )edit

when i uncheck it, it doesnt show the movement of the real arm, however it shows the movement in the ghost, and a double arm at right angle probably from the limits of the urdf is just there..

makemelive gravatar image makemelive  ( 2020-02-19 07:29:29 -0500 )edit

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answered 2020-03-05 03:57:46 -0500

makemelive gravatar image

when i remove the robot state display the duplicate is gone, however if moveit isnt running the robot is showing I dont publish the robot description in the param server with moveit

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Asked: 2020-02-19 04:52:05 -0500

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Last updated: Mar 05 '20