Rosen Diankov's profile - activity

we're extremely port limited and would like to specify a range of ports for nodes to use when communicating with each other. For example: 9000-9500

any ideas how to assign specific ports for node communication? Looking at roscpp and the docs it looks like the publisher sends a connection header to subscriber with how to connect to itself. Does this means the port is already determined at this point in time? or is connection header sent through XMLRPC with the new port? It looks like the info is sent into the 'callerid' variable. Unfortunately, i haven't been able to track down exactly how this gets assigned....

how does port assignment make sure it doesn't class with other ports?

all this is very mysterious and it would be great if someone could provide even the smallest bit of info.

thank you

we would like to add extra tags no supported by roslaunch to the launch xml files. these tags contain metadata that are very particular to the launch file, but do not fit into any of the current tag settings.

currently we get a warning when we do this:

WARNING: unrecognized tag

however it is not clear what internal error flags roslaunch sets for this launch file, and wanted to make sure that such a feature is supported.

thank you,

the care-o-bot stl files inside the cob_description package all start with the word 'solid'. The STL specification says that binary stl files cannot start with solid, this makes a lot of importers (like assimp) fail. We substituted all of them with 'xxxxx' and were able to convert the care-o-bot urdf to collada.

is there a geometric distance query library that is under an open source license preferably under LGPL, BSD, or Apache?

We cannot get anything working unless this is fixed. I reported it here:

https://code.ros.org/trac/opencv/tick...

if you execute this on your robot

openrave-robot.py newarmdae.dae --info joints

you should get

name           joint_index dof_index parent_link   child_link    mimic   
-------------------------------------------------------------------------
joint_j0       0           0         arm_base_link connectorj01          
joint_j1       1           1         connectorj01  link1                 
joint_j2       2           2         connectorj2   link2                 
joint_j3       3           3         connectorj3   connectorj4           
joint_j4       4           4         connectorj4   endeffector           
arm_base_joint -1          -1        base          arm_base_link         
joint_j1m      -1          -1        link1         connectorj2   joint_j1
joint_j2m      -1          -1        link2         connectorj3   joint_j2
-------------------------------------------------------------------------
name           joint_index dof_index parent_link   child_link    mimic

which shows that your robot has 5 DOF, 1 static joint (arm_base_joint), and 2 mimic joints

so the file is read correctly. however you should note that ikfast does not support solving IK with mimic joints in the arm chain.

thanks, i just opened the file you sent and the mimic joints were there.... what version of openrave are you using? 0.6.x or later versions should all work..

if you cannot zip it and attach the file, please send it to rosen.diankov_at_gmail

please send the generated collada format. i would like to check what was actually generated. last time i exported the pr2, the mimic joints were exported as well...

we frequently use openrave planning through the ROS network. please check out the armplanning_openrave.py script in the orrosplanning package; it offers a ros service for planning.

the recent openrave versions (0.7.x) have inverse dynamics which can be used as :

robot.SetDOFValues(dofvalues)
robot.SetDOFVelocities(dofvelocities)
torques = robot.ComputeInverseDynamics(dofaccelerations)

you can also split the contributions

torqueconfiguration, torquecoriolis, torquegravity = robot.ComputeInverseDynamics(dofaccelerations,None,returncomponents=True)