Motion planing failed after adding gripper (end effector)

asked 2020-08-04 06:04:39 -0500

Person7 gravatar image

updated 2020-08-04 08:14:59 -0500

gvdhoorn gravatar image

Part of srdf file:

<?xml version="1.0" ?>
<!--This does not replace URDF, and is not an extension of URDF.
    This is a format for representing semantic information about the robot structure.
    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
<robot name="ramie_pb_pm_1">
    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
    <group name="arm">
        <joint name="ramie_pb_pm_1__link_0_JOINT_0" />
        <joint name="ramie_pb_pm_1__link_1_JOINT_0" />
        <joint name="ramie_pb_pm_1__link_2_0_JOINT_1_0" />
        <joint name="ramie_pb_pm_1__link_3_JOINT_0" />
        <joint name="ramie_pb_pm_1__link_1_0_JOINT_0" />
        <joint name="ramie_pb_pm_1__link_0_0_JOINT_1" />
        <joint name="ramie_pb_pm_1__link_3_clone_JOINT_4" />
        <joint name="ramie_pb_pm_1__link_1_0_clone_JOINT_3" />
        <joint name="ramie_pb_pm_1__link_5_JOINT_5" />
    <group name="gripper">
        <joint name="ramie_pb_pm_1__link_1_0_clone_clone_JOINT_6" />
    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
    <end_effector name="grip" parent_link="ramie_pb_pm_1__link_1_0_clone_clone" group="gripper" />
    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
    <virtual_joint name="vir" type="fixed" parent_frame="world" child_link="ramie_pb_pm_1__link_0" />
    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->

when creating moveit package in pose error occurs any time any collision is enabled. But when package is created and i manually delate collisions error ocure only whan i add gripper and its joint to urdf file.

edit retag flag offensive close merge delete


Sorry, but I don't understand this post. Please try to be more descriptive, explain what error you encounter and what you change in your file(s) to produce it.

fvd gravatar image fvd  ( 2020-08-20 22:25:02 -0500 )edit