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The arm posture changes all the time, when following the fixed ArUco marker

asked 2022-03-08 20:26:36 -0500

Gojigu gravatar image

updated 2022-03-10 02:56:11 -0500

I am using Ubuntu 18.04.6 and ROS melodic.

I use Dobot CR5, a robotic arm simulated by Gazebo. ArUco detect uses the fiducials package.

I made a python file, which will let the end of the arm continue to move to the front of the marker through the moveit commander.

The marker position remains fixed, and when the arm moves to the front, the arm will shake slightly. I think it should be related to the accuracy of ArUco detection.

But sometimes the arm will suddenly rotate and come back in front of the marker. Regarding this question, what part should I adjust?

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answered 2022-03-16 02:54:22 -0500

Gojigu gravatar image

After replacing the RRT used by the OMPL preset with a PRM, the problem seems to be solved.

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Do you have this project somewhere on GitHub? It would be useful for future readers as a point of reference and test of their project

ljaniec gravatar image ljaniec  ( 2022-03-16 03:46:00 -0500 )edit

Use I just modified cr5_moveit/config/ompl_planning.yaml

Modify "default_planner_config: RRT" to "default_planner_config: PRM"

Gojigu gravatar image Gojigu  ( 2022-03-16 21:31:55 -0500 )edit

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Asked: 2022-03-08 20:26:36 -0500

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Last updated: Mar 16 '22