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How to manipulate an arm with real-time user input?

asked 2021-07-27 13:04:14 -0500

gentle_yeti gravatar image

updated 2021-07-29 13:20:45 -0500

I've been trying to create a program in Python to get real time user input which can be used to manipulate an arm in rviz to perform motion based according to the user's desire, but using standard messages is not working. I've been using rosrun to run the python file after launching the robot package. I'm a beginner to ROS and am currently using ROS Melodic so this might be a very trivial task but I did not find anything on the net, so if anyone has done it, pls help me out. I'm running a simulation of tmr_700 robot arm, the arm has 3 joints which I wish to manipulate a single joint for movement.

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Please edit your question and provide more information: is this for simulation, or a real robot? how many joints does the robot arm have? what kind of device(s) are going to provide input? are you trying to control just a single joint, or are you trying to specify the pose of the end-effector in a 3D space?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-07-28 16:06:45 -0500 )edit

Thank you for pointing my mistake out, I'm new to ROS and am still learning how to handle the forum, I'll edit the question and add the details that you pointed out

gentle_yeti gravatar image gentle_yeti  ( 2021-07-29 13:15:18 -0500 )edit

Does your robot package have a demo? Do you have the demo working in gazebo?

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-07-30 05:53:48 -0500 )edit

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answered 2021-07-28 02:24:41 -0500

Ranjit Kathiriya gravatar image

updated 2021-07-28 02:31:40 -0500

I've been trying to create a program in Python to get real-time user input that can be used to manipulate an arm in rviz to perform motion-based according to the user's desire, but using standard messages is not working.

Over here you have to use Moveit. Follow these tutorials you will get some idea about working of moveit. If you are using python then have a look at this tutorial: http://docs.ros.org/en/melodic/api/mo...

To note: You should have urdf file for your arm manipulation and then after you have to create moveit package with respect to your manipulator http://docs.ros.org/en/melodic/api/mo... and then you have to connect moveit to your real robot. Finally, now you will be able to control your real robotic arm using Rviz and also able to view the trajectory performed by a real robot in rviz.

If you have any doubt feel free to drop comment.

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Thank you for the help, I have created the package but was facing issue on how I can manipulate using moveit package, the tutorial aided me in the process.

gentle_yeti gravatar image gentle_yeti  ( 2021-07-28 13:14:56 -0500 )edit

I have created the package but was facing an issue on how I can manipulate using moveit package

You have to give a detailed introduction. For example what tutorials are you following, In which steps you are stuck at, What is an error, try to provide as much detail you can. If you are able to give us more clues that will help us in identifying the solution.

For example, I am facing the issue, How I can know the details?

Ranjit Kathiriya gravatar image Ranjit Kathiriya  ( 2021-07-30 02:35:06 -0500 )edit

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Asked: 2021-07-27 13:04:14 -0500

Seen: 58 times

Last updated: Jul 29 '21