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rviz_visual_tools: publishTrajectoryLine seems to be rotated and translated but correct

asked 2020-04-13 08:07:56 -0600

dschimpf gravatar image

updated 2020-04-13 09:05:31 -0600

I have been using moveit to generate my tool path and then wanted to visualize the tool path before I execute it. publishTrajectoryLine from rviz_visual_tools seems to do exactly that. I have been following the tutorial from moveit (http://docs.ros.org/kinetic/api/movei...) but integrating it in my node with a UR10e. When I determine the trajectory and then display the path with publishTrajectoryLine as a line and with MotionPlanning -> Planned Path -> Show Trail, the trail of the TCP of the robot and the line do not match. However the line has a shape very similar to the expected line, but I think it was rotated and translated before displayed. Here a screenshot: image description

Did I somehow choose the wrong origin for the publishTrajectoryLine command?

Thanks!

Daniel

Below is part of the code which may be relevant:

 namespace rvt = rviz_visual_tools;
    // For visualizing things in rviz
    rviz_visual_tools::RvizVisualToolsPtr visual_tools_;
      geometry_msgs::Pose target_pose1;
      target_pose1.orientation.w = 1.0;
      target_pose1.position.x = 0.28;
      target_pose1.position.y = -0.2;
      target_pose1.position.z = 0.5;
      move_group.setPoseTarget(target_pose1);

      // Now, we call the planner to compute the plan and visualize it.
      // Note that we are just planning, not asking move_group
      // to actually move the robot.
//      moveit::planning_interface::MoveGroupInterface::Plan my_plan;

      /*bool*/ success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);

      ROS_INFO_NAMED("tutorial", "Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");

      // Visualizing plans
      // ^^^^^^^^^^^^^^^^^
      // We can also visualize the plan as a line with markers in RViz.
      ROS_INFO_NAMED("tutorial", "Visualizing plan 1 as trajectory line");
      visual_tools.deleteAllMarkers();
      visual_tools.publishAxisLabeled(target_pose1, "pose2");
      visual_tools.publishText(text_pose, "Pose Goal2", rvt::WHITE, rvt::XLARGE);
      visual_tools.publishTrajectoryLine(my_plan.trajectory_, joint_model_group);
      visual_tools.trigger();
      ros::Duration(0.5).sleep();
      visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to continue the demo");
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Comments

I can't post a picture yet, because I don't have enough points.

you do now, so please post the screenshot.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-13 08:59:01 -0600 )edit

Thanks! I edited my question and added the screenshot.

dschimpf gravatar image dschimpf  ( 2020-04-13 09:06:00 -0600 )edit

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answered 2020-06-10 11:11:08 -0600

DangTran gravatar image

publishTrajectoryLine(...) visualize the green trajectory line. while publishTrajectoryPath(...) visualize the simulated robot motions. Add the 2 following lines right after visual_tools.trigger():

visual_tools.publishTrajectoryPath(my_plan.trajectory_, my_plan.start_state_);
visual_tool->trigger();
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Asked: 2020-04-13 08:07:56 -0600

Seen: 334 times

Last updated: Jun 10 '20