Robert Krug's profile - activity

Hi,

I'm trying to proifle my controllers written in the ros_control framework in Gazebo. To this end, I added the following argument in gazebo_ros/launch/empty_world.launch:

launch-prefix="valgrind --tool=callgrind --callgrind-out-file=/home/user/callgrind.out"

However, no output file is produced. Has anybody who tried profiling ROS controllers using the Valgrind/Callgrind toolchain a solution for this?

Thanks,

-Robert-

Profiling ros_controllers with callgrind Hi, I'm trying to proifle my controllers written in the ros_control framework

Profiling ros_controllers with callgrind Hi, I'm trying to proifle my controllers written in the ros_control framework

Hi,

I would like to use the CHOMP motion planner in MoveIt! for a KUKA lightweight arm (with Groovy). I have fairly limited experience with these tools and the tutorials for using CHOMP are limited to integration in arm_navigation and the MoveIt! setup wizard doesn't provide an option for using CHOMP.

If somebody could explain how to modify the according MoveIt! launch files and maybe provide an example I would be grateful.

Thx, -Robert-

Thanks, we have a similar solution using the Connectivity Servoing and ros_control right now. One of the issues we have, is that we need velocity control for which there's no interface provided by KUKA. Any input/discussion on how to achieve this would be appreciated.

Yes, we're currently working on a hardware interface to connect to the robot which can be found on the repository mentioned above (under heavy development right now though).Thanks for the link, it seems to be for the previous model, the LWR 4 though, not for the new LBR iiwa.

Update: I made a URDF description of the arm which can be found here. I am still interested in hints for the control setup though ...

Hi,

I want to setup the new KUKA LBR iiwa arm for (soft) real-time control (at around 100 Hz for now) in Gazebo and on the actual robot. I was thinking of using ros_control and I'm interested in weather somebody already has a similar setup (HW-interface, URDF/SDF model ...) or is working on it since I couldn't find anything for to the LBR iiwa online.

Thanks and all the best,

-Robert-

Hi,

Is it possible to manually add messages to a tf::MessageFilter queue instead of connecting the filter's input to a subscriber? The add(...) methods provided in the API only seem to work with other filters as argument.

Thanks, -Robert-

Hi,

I have a bunch of objects as urdf files which I use for simulation in Gazebo and visualization in Rviz. Now I would like some of them to be fixed in the environment. As stated here this is possible with Gazebo xml model files by putting following tag in the model.

<static>true</static>

However, simply putting the same tag in the gazebo extension of the urdf file like so:

<gazebo reference="my_object">
  <static>true</static>
</gazebo>

does not work, it simply gets ignored. I would like to use urdf files instead of Gazebo model xml's since urdf's can be easily visualized in Rviz by reading the description from the parameter server which does not seem to work for Gazebo model xml's. So, the question is whether there is a way to literally fix objects in their urdf file description opposed to simply making them very heavy.

Thanks, -Robert-

Hi,

In ROS electric, I want to spawn models in gazebo in a programmatic way via the /gazebo/spawn_urdf_model service. So I wrote a node implementing an according client but when I try to load models I get the following error from Gazebo: 'SpawnModel: Failure - model format is not URDF (nor COLLADA).' This also happens when I try calling the service from a terminal, e.g., rosservice call /gazebo/spawn_urdf_model '{model_name: "coke_can", model_xml: "/opt/ros/electric/stacks/simulator_gazebo/gazebo_worlds/objects/coke_can.urdf", robot_namespace: "/foo", initial_pose: {position: {x: 0, y: 0, z: 0}, orientation: {x: 0, y: 0, z: 0, w: 1}}, reference_frame: "world"}'. Trying to spawn the same object via rosrun gazebo spawn_model ... works perfectly fine. The error occurs in /gazebo/src/gazeboros.cpp in the method 'bool IsURDF(std::string model_xml)'. The TiXmlDocument which is parsed there always seems to be empty. Am I doing something wrong or is this a bug?

Thanks, -Robert-

Hi,

I installed Graspit! for Diamondback from apt and it works fine. Now i would like to use the provided graspit_interface plugin. According to this post, there should be a graspit_interface node for starting the simulator with a containing ROS node but in my install the package only compiles a shared library libros_graspit_interface.so. Could somebody with some experience with this tool maybe elaborate a bit on how to start/use the plugin or maybe provide some lines of code illustrating how to interact with it from within a ROS node?

Thanks, -Robert-