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2014-06-18 12:51:12 -0500 answered a question error for tf::TransformListener

The following worked for me... I added "tf" to my CMakeLists.txt find_package(). E.g.:

find_package( catkin REQUIRED COMPONENTS roscpp .... tf)

2014-06-14 13:13:47 -0500 asked a question Motion planning for multiple robots with moveit

I am trying to use moveit to plan/execute motion for several robots in parallel. Currently each robot agent sends planning requests to a singular move_group node independently. This is failing: multiple planning requests pre-empt or otherwise interfere with each other.

I would like to attempt to run multiple instances of the moveit (one for each agent) as a work around. However, my attempts to do so have been unsuccessfull. I have attempted to use the ns parameter in the launch files but the agents hang instantiating their MoveGroup (they are able to download the URDF from the parameter server but it appears they are not able to connect to the move_group node).

Has anyone had any success in this area? Can anyone guide me on how to do this? I am still a novice at roslaunch and would greatly appreciate the help.

Thank you in advance.

--Ben

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2014-04-29 12:54:25 -0500 commented answer Manipulator Shakes/Wobbles

Again THANK YOU! I get it now... Yes - this fixed the issue of "ghost state" :) I owe you one... or two. Here's a clip of the corrected/improved configuration: http://youtu.be/k5rzlfS1RvA

2014-04-29 10:28:22 -0500 commented answer Manipulator Shakes/Wobbles

New update! I just realized you suggested setting iyy="0.02". I had been using 0.002 by mistake. When I corrected this the robot movement movement is VERY SMOOTH AND STABLE. THANK YOU!

2014-04-29 10:23:46 -0500 commented answer Manipulator Shakes/Wobbles

Thanks. I'm a little confused about what you mean by "First launch fake_controller". I am doing the following: (1) launching gazebo (2) launching rviz using a version of demo.launch with fake_execution = false.

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2014-04-29 05:25:01 -0500 commented answer Manipulator Shakes/Wobbles

Update: I tried the suggested settings. The wobbling appears to be much improved but still looks like it is vibrating. Execution is much faster and smoother. Wobbling is less violent - much better damped. This will prove to be much more usable! Thank you - this was helpful and informative.

2014-04-29 04:40:34 -0500 commented answer Manipulator Shakes/Wobbles

Awesome - thank you! I will try these suggestions out. Am I correct in inferring that you will eventually add your changes into the ros-industrial package?

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2014-04-25 07:38:08 -0500 commented question Manipulator Shakes/Wobbles

Yes. It has a mass of 50. I have since discovered that the manipulator exhibits the same behaviour if fixed directly to the ground as well. Please see the following youtube video for reference: http://youtu.be/RVYIK4C_mgk Any suggestions on what I may do to stabilize the robot's behaviour? Thank you!

2014-04-24 13:33:57 -0500 asked a question Manipulator Shakes/Wobbles

I am using a Universal Robots UR5 mounted to a cylindrical post using fixed joints (one to world, the other to the UR5).

When I drive it in Gazebo using Moveit! the model shakes/wobbles. It eventually settles down....

I am wondering if there is something that I'm doing wrong to induce this? Or if there are things I need to adjust to eliminate this?

2014-04-21 09:12:23 -0500 answered a question rosrun controller_manager controller_manager list

I found my mistake. I had a type-o in my URDF. I was using an incorrect tag in the gazebo plugin namespace element. Namely, I had

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robot_namespace>/gripper</robot_namespace> </plugin> </gazebo>

When I should have had

<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/gripper</robotNamespace> </plugin> </gazebo>

2014-04-21 07:14:53 -0500 commented question rosrun controller_manager controller_manager list

No, it does not appear in the list of services....

2014-04-21 06:26:37 -0500 asked a question rosrun controller_manager controller_manager list

I am attempting to spawn controllers but interactions with controller_manager seem to hang.

1) when I attempt to launch my controllers I see the following after a timeout:

[INFO] [WallTime: 1398097365.560001] Controller Spawner: Waiting for service controller_manager/load_controller [WARN] [WallTime: 1398097395.567543] Controller Spawner couldn't find the expected controller_manager ROS interface. [gripper/controller_spawner-1] process has finished cleanly log file: /home/user/.ros/log/57c14baa-c96f-11e3-b22a-c81f6621927d/gripper-controller_spawner-1*.log

2) Subsequently, if I attempt to merely list controllers/types the call hangs until I kill the process:

rosrun controller_manager controller_manager list

Anyone have any tips on what I am doing wrong? I have confirmed that ros_control and ros_controllers are installed.

Thanks in advance.