Control hand/gripper/end effector with Moveit or RVIZ

asked 2020-09-30 00:01:52 -0500

1228 gravatar image

updated 2020-10-01 19:54:15 -0500


I'm not able to control the hand of my robot through RVIZ and Moveit. When I choose the left hand/right hand in Planning Group, the hand would be highlighted, but if I want to perform an action, there would be an error message. Only plan is success, but execution failure. The error msgs are:

[ERROR] [1601440658.879029840]: Joint trajectory action failing on invalid joints
[ WARN] [1601440658.879383393]: Controller left_arm failed with error code INVALID_JOINTS
[ WARN] [1601440658.880219880]: Controller handle left_arm reports status FAILED

Also, if I set a pose target (i.e. set_pose_target) about the robot's arm, the gripper will be open, close or at any position just out of my control...

How can I fix this problem?

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Can you be more precise about what happens when you set which pose targets for which group? Is each of the groups talking to the correct joints? Your error message says that your left_arm has incorrect joints, not your hand.

fvd gravatar image fvd  ( 2020-10-01 22:56:14 -0500 )edit

The thing is both of right/left hand got the same error code, the error message above is for the left arm one. In rviz, the planning group are both_arms, left_arm, left_hand, right_arm, right_hand. Left_hand and Right_hand are the end effectors (grippers) of robot's arm. Say for example, when I select the left hand in planning group in RVIZ, and if I plan and execute any motion (open hand, close hand,etc.), the error message will be displayed.

Also, when I want to code it out in python. I try to use moveit! package, the method set_pose_target helps robot arm to move to the target position. However, I have open robot's hand before execute the set_pose_target command, the position outcome of the set_pose_target is right, the hand outcome is not controllable (it can be either open or close).

1228 gravatar image 1228  ( 2020-10-01 23:07:40 -0500 )edit

I'm not sure I follow, but it still seems like your joint groups are not set up correctly. Make sure you followed the tutorial have a look at the end effector and hand group definitions, and make sure joints aren't duplicated in the hand groups for example.

And please don't forget to update your original question with relevant information, so the next person with a similar problem can make use of it.

fvd gravatar image fvd  ( 2020-10-03 03:39:06 -0500 )edit