ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

2

Moveit! and URDF problem

asked 2013-11-04 05:01:58 -0500

This post is a wiki. Anyone with karma >75 is welcome to improve it.

Hello Dear Community! I have a problem that I can't resolve during already a few days. I have created simple test robot arm in SolidWorks. I followed instructions on setting the axis correctly for all joints (X-forward, Z-up). I have exported URDF model from SolidWorks. I have created Moveit! config for this URDF model with Moveit! wizard. Models successfully loads into rviz. I can control it with robot_state_publisher GUI panel. But I can't set the Goal State with Interactive Marker either with the code. I always get "Fail: ABORTED: No motion plan found. No execution attempted.". I have uploaded to GoogleDrive two tars:

drive.google.com/file/d/0Bx529USSkqSbd0k0djE0aEVKYTg/edit?usp=sharing (model exported from SolidWorks: URDF, meshes)
drive.google.com/file/d/0Bx529USSkqSbbGRjckp5bVRNbjQ/edit?usp=sharing (generated Moveit! config)

Could you please be so kind and review this packages, and tell me what I'm doing wrong! I really need help with this!

Great thanks ahead!

edit retag flag offensive close merge delete

Comments

An arm for Moveit! shall be strictly 6DOF? Or could have less DOF?

maska ( 2013-11-04 11:20:26 -0500 )edit

Try to set the logger levels of move_arm and ompl_ros to DEBUG using rxconsole. That could give some extra debug info.

davinci ( 2013-11-04 22:46:44 -0500 )edit

1 Answer

Sort by » oldest newest most voted

0

answered 2013-11-06 03:29:39 -0500

This post is a wiki. Anyone with karma >75 is welcome to improve it.

I have set the position_only_ik: True in kinematics.yaml file and this has solved the problem.

edit flag offensive delete link

Comments

How to mark the question as resolved?

maska ( 2013-11-06 03:38:01 -0500 )edit

Click the v button

davinci ( 2013-11-06 03:54:54 -0500 )edit

Question Tools

1 follower

Stats

Asked: 2013-11-04 05:01:58 -0500

Seen: 1,332 times

Last updated: Nov 06 '13

Related questions

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.

Powered by Askbot version 0.10.2