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How can I move my arm to a specified point in space using moveit.

asked 2013-09-22 19:03:37 -0500

unais gravatar image

Hi,

Recently I am learning about moveit package . And I am created a move-it config package. I want to move my robotic arm (real hardware) to specified point in space (inverse kinamatics calculation). How can I program it.

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Do you already have a low level ros node implementing FollowJointTrajectoryAction for your hardware?

Humpelstilzchen gravatar imageHumpelstilzchen ( 2017-04-18 02:49:28 -0500 )edit

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answered 2013-09-23 03:43:23 -0500

There do appear to be a handful of tutorials that might be able to help you on the MoveIt! wiki page. The high level API's at the bottom of this tutorial page should be able to help you out:

http://moveit.ros.org/wiki/Tutorials

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Have you seen any python API /Example for that

unais gravatar imageunais ( 2013-09-23 17:52:06 -0500 )edit
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For using MoveIt's ROS API with Python you just need to understand how to use publisher/subscribers, services and actions in general (http://wiki.ros.org/rospy/Tutorials) and fill in the required information (http://wiki.ros.org/moveit_msgs).

bit-pirate gravatar imagebit-pirate ( 2013-09-23 19:42:07 -0500 )edit
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answered 2013-09-23 19:32:25 -0500

bit-pirate gravatar image

updated 2017-04-17 17:28:40 -0500

130s gravatar image

Geek,

You could call MoveIt's compute_ik service (service description) and then use the computed joint positions to generate motions commands for your robot.

PS: MoveIt's mailing list is (currently) the better place to ask MoveIt-related questions: https://groups.google.com/forum/#!for... As of April 2017 answers.ros.org is the recommended QA site.

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While this would work, it would be more efficient to send the pose directly to the planner.

isucan gravatar imageisucan ( 2013-10-01 01:58:44 -0500 )edit

@bit-pirate

Hi! Can you please tell me how to call the /compute_ik service? What arguments should I be passing? If it is being published by any of the topics, how do I pass it?

Thanks!

puru gravatar imagepuru ( 2016-11-30 18:37:49 -0500 )edit
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@puru Please don't use comment section to ask a new question. It doesn't get as much attention as you need, let alone it's not what comment section is designed for.

130s gravatar image130s ( 2016-12-03 11:43:32 -0500 )edit

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Asked: 2013-09-22 19:03:37 -0500

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Last updated: Apr 17 '17