| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
I would like to be able to treat the PR2 as a planar three link manipulator and test out some built in planners (openrave or OMPL).
Is there a way to restrict openrave and/or OMPL to use only the shoulder pan, elbow flex, and wrist flex joint of the PR2?
Yes,
ompl_ros_interface is setup to plan for a group of joints - you can setup a group to consist of just those three joints. When you make a planning request, you do have to make sure you specify where the other joints of the robot should be - they will stay fixed at those positions for planning.
Let me know if you run into problems.
Here's a bunch of diff's against cturtle that I used to get your use case working in simulation:
(1) Change the configuration and planning specification to add new group: diff for stack pr2_arm_navigation
http://pastebin.com/raw.php?i=WFW9mn7d
(2) Change the controller to work only on those three joints (in simulation): diff for package pr2_controller_configuration_gazebo
http://pastebin.com/raw.php?i=2SSMtJRY
(3) Change the controller to work only on those three joints (on the robot): diff for stack pr2_robot
http://pastebin.com/raw.php?i=5xSBiF77
I did not test on the robot though.
Thanks Sachin, changing ompl_planning_configs.yaml helped.
I now get some new errors. I am using the SimpleActionClient to call the motion planner and execute the trajectory. It looks like the motion planning succeeded but something else failed.
[ INFO] [1299548741.952947568, 108.201000000]: Received request for planning
[ INFO] [1299548741.953422419, 108.201000000]: Selected motion planner: 'kinematic::LBKPIECE[LBKPIECEkConfig2r]', with priority 11
[ INFO] [1299548741.953639205, 108.201000000]: ompl planning for group right_arm_planar
[ERROR] [1299548741.957239764, 108.201000000]: Joint 'r_shoulder_lift_joint' is not part of group 'right_arm_planar'
[ERROR] [1299548741.957334176, 108.201000000]: Joint 'r_upper_arm_roll_joint' is not part of group 'right_arm_planar'
[ERROR] [1299548741.957376039, 108.201000000]: Joint 'r_forearm_roll_joint' is not part of group 'right_arm_planar'
[ERROR] [1299548741.957415029, 108.201000000]: Joint 'r_wrist_roll_joint' is not part of group 'right_arm_planar'
Info: LBKPIECE1: Starting with 2 states
Info: LBKPIECE1: Created 42 (22 start + 20 goal) states in 34 cells (18 start + 16 goal)
[ INFO] [1299548742.101694222, 108.235000000]: Motion planning succeeded
[ WARN] [1299548742.109843014, 108.237000000]: State violates goal constraints.
[ERROR] [1299548742.110338786, 108.238000000]: Returned path from planner does not go all the way to goal
Is ompl_ros_interface something that works with diamondback?
Hi Sachin,
I added a new planning group called right_arm_planar to pr2_arm_navigation_config/config/planning_groups.yaml
If I submit a planning request with the group_name set to right_arm_planar, I get the following error:
[ERROR] [1299542819.552032802, 79.936000000]: Cannot plan for 'right_arm_planar'. Model does not exist
Is there some other config file where I need to define a Model?
Hi Sachin,
I am currently running cturtle and am getting some compiler errors when I try to make ompl_ros_interface. Is there any hope of getting ompl_ros_interface to work with cturtle debians?
Could you point me to the files in this package that create a planner with a joint group and make a planning request?
Thanks!
Asked: 2011-03-05 11:17:55 -0500
Seen: 421 times
Last updated: Mar 07 '11
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
