Problem by using interpolated ik motion planner

asked 2012-07-25 03:23:47 -0500

dong
13 ●2 ●3 ●6

updated 2012-07-25 03:24:46 -0500

Hi, recently i have tried to port the ros tabletop object_manipulation to our own robot. And i occur the problem that the interpolated ik motion planner can only accept 'r' and 'l' as argument. The generated arm navigation launch file has another arm name such like 'kuka'. Is that a way to go around this problem or do i have to manually modify the source code in the interpolated ik motion planner to enable of using other arms.

answered 2012-11-08 17:17:01 -0500

bit-pirate

2062 ●24 ●47 ●55

updated 2012-11-08 17:17:57 -0500

I solved this issue for me by commenting out two lines in interpolated_ik_motion_planner/scripts/interpolated_ik_motion_planner.py as below:

if __name__ == "__main__":

    which_arm = None
#    if len(sys.argv) >= 2:
#        which_arm = sys.argv[1]
    interpolated_ik_service = InterpolatedIKService(which_arm)
    rospy.loginfo("Ready to serve interpolated IK motion plan requests.")

    rospy.spin()

Here is my launch file, which makes the planner connect to the services it needs (e.g. IK):

<launch>
  <group ns="your_robot_name">
    <node name="interpolated_ik_node" pkg="interpolated_ik_motion_planner" type="interpolated_ik_motion_planner.py" args="" respawn="false">
      <param name="robot_prefix" type="string" value="your_robot_name"/>
      <param name="num_steps" type="int" value="0"/>
      <param name="pos_spacing" type="double" value="0.02"/>
      <param name="rot_spacing" type="double" value="0.0349065850399"/>
      <param name="collision_check_resolution" type="int" value="0"/>
      <param name="consistent_angle" type="double" value="0.017"/>
      <param name="collision_aware" type="int" value="1"/>
      <param name="start_from_end" type="int" value="0"/>
    </node>
  </group>
</launch>

Hope this works for you as well!

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Comments

Doesn't this disable handling of the arm parameter completely?

Lorenz ( 2012-11-08 22:39:08 -0500 )edit

Correct, but if you have only one arm, that doesn't matter. If you still want to use multiple arms on the same robot, you will need to tweak the logic in that argv parsing or you use topic remappings for each node. I guess, this usage of argv is, because this tool was initial used via rosrun.

bit-pirate ( 2012-11-09 19:06:49 -0500 )edit

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