Why is that r_forearm_joint and r_gripper_palm_link are always in collision ?

asked 2013-09-09 23:39:13 -0600

li-an gravatar image

updated 2014-11-22 17:05:25 -0600

ngrennan gravatar image

Sorry,because I ask moveit mailing list, but no people answer yet. So I ask problem here and hope you to help.

My problem:

My system is ubuntu12.04 and ros groovy. I try to setup MoveIt in real PR2.

According to MoveIt tutorials I finish setting yaml and launch files of controller and run optirun roslaunch pr2_moveit_generated moveit_planning_execution.launch

I select random point in rviz, but r_forearm_joint and r_gripper_palm_link display red.image description

I try to select random point again and again or pull arm of PR2 by myself in rviz, but r_forearm_joint and r_gripper_palm_link always display red. I plan and have error message(link text).

I attach srdf of PR2, urdf of PR2 and hope that you can reproduce the problem.

Why is that r_forearm_joint and r_gripper_palm_link always display red ? Thank you.

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