Rob Farrell's profile - activity

It turns out the stock ur5_moveit_config ur5.srdf has the base_link as part of the manipulator planning group. Apparently this worked in groovy but not in hydro. The link can be removed from the manipulator planning group by using the setup_assistant planning groups tab, it can also be seen in the ur5_moveit_config ur5.srdf.

I turned on the debug and this is what I get at the end: Program received signal SIGSEGV, Segmentation fault. 0x00007fff987983b3 in dynamics_solver::DynamicsSolver::DynamicsSolver(boost::shared_ptr<moveit::core::robotmodel const=""> const&, std::string const&, geometry_msgs::Vector3_<std::allocator<void> > const&) () from /opt/ros/hydro/lib/libmoveit_dynamics_solver.so

Currently I'm only trying to get the default ROS-industrial universal_robots hydro-dev repository to work. I have also tried my own universal_robots and Marco's from below. All give the same result.

Thanks Marco. Unfortunately I tried both running the setup assistant again and I tried using your fork and unfortunately the result is the same. It all looks good in the setup assistant however when I try to launch the demo rviz comes up and then closes quickly. Still stumped. I must be missing something.

I've tested my hydro installation successfully with pr2 and the pr2_moveit_config and the demo.lauch file and I've updated my ur5 move_group.launch file with the requisite move_group/MoveGroupGetPlanningSceneService and indicated at groups.google.com/forum/#!topic/moveit-users/mUQqqFsGu9U however when I roslaunch the ur5 demo.lauch or the moveit_planning _execution.launch file rviz comes up for an instant and the I get an exit code -11. From what I've read this is a seg fault and I'll need to run gdb to further debug however I've tested this on two fresh installation of ubuntu 12.04 x64 and have the same result however the pr2 demo.launch seems to function normally. Can someone offer some guidance here?

Thanks! This gave me what I needed to solve my problem. It was basically the default rotation of the axis was not correct from the exporter so I needed to set it in the dialog or the URDF appropriately. I have also discovered what appears to be a bug in the exporter in that in my robots orientation the exporter always flips one of the origins 180 degrees. I can share my model if you would like to debug this. Overall I find it to be a very useful tool.

I did start out using the groovy ROS-Industrial UR5 model but I had interest in making some changes to the model to include other components I have on my arm and in my work space so I turned to using the SW exporter. I was unaware that ROS-Industrial was now supporting hydro. Thanks I'll change to that branch.

I'm working with groovy and a universal robots ur5 robot that mounted on shoulder mount in a custom work cell. I've been trying to configure it with the solidworks urdf exporter and I've been coming close but there are still some issues I am facing. I am able to get the robot exported and working properly in simulation with moveit / rviz and the collision model however when I connect it to the real robot the joints are miss-aligned with the model. The closest I've come is to setup the model so that the ur5 has all its joints at 0 degrees in the model then when I start the robot the model joints match the position of the real robot except I seem to have several joints that rotate the wrong direction. I think I must be missing something. Is there a way to calibrate the joints of the model to the physical robot? I've tried everything I could think of as far as aligning the origins in the model but to no avail. Hopefully someone here has similar experience and can give me some pointers. Thanks!