rkitect's profile - activity

Hello

I am using ros::Duration(5).sleep() in one of my boost threads. It works fine in the first execution loop but starts skipping the delays completely after first cycle. Also I'm using ros::Rate rate(0.02); rate.sleep(); it's the same case for this method as well.

I'm using ros::AsyncSpinner spinner(4); spinner.start in my main loop and there's no other ros spin anywhere in the code. I cannot see why this would cause a problem, but still mentioning.

Any help/advice is appreciated, thanks in advance !

Yeah, I do have packages all mixed up, so that can be a problem. But anyways, now I have built a new catkin package and replicated the messages from wam_node for this package and it works fine.

I have that in my .bashrc, I can rosrun wam_node and all other packages in catkin_ws , anyways I tried sourcing that file again but it still cant import the wam_node.msg.

I have wasted my whole day figuring this thing out. I can rosrun both packages, but python just cant find that "wam_node" package. I have used c++ before to use the same message and it worked. I don't know what is wrong ? Am I missing something ?

Any help/suggestion is appreciated. Thanks in advance.

Error when I run the package (rosrun hand_control grasp_with_biotac.py):

Traceback (most recent call last):
  File "/home/rohit/catkin_ws/src/BMI-robot-arm-control/hand_control/src/grasp_with_biotac.py", line 12, in <module>
    from wam_node.msg import HandPosVel
ImportError: No module named wam_node.msg

Python code for import:

from std_msgs.msg import String
from biotac_sensors.msg import BioTacHand
from wam_node.msg import HandPosVel

"rosmsg list | grep Hand"output:

biotac_sensors/BioTacHand
wam_node/HandPos
wam_node/HandPosVel

manifest.xml of hand_control package :

<package>
  <description brief="hand_control">

     hand_control

  </description>
  <author>robot</author>
  <license>BSD</license>
  <review status="unreviewed" notes=""/>
  <url>http://ros.org/wiki/hand_control</url>
  <depend package="wam_node"/>
  <depend package="wam_msgs"/>
  <depend package="wam_srvs"/>
  <depend package="wam_control"/>

</package>

I am very new to motion planning and just know how PRM and RRT work. I am particularly interested in multi DOF arm motion planning and bibed's footstep planning. As I have never used it in practice, I have no idea how much time it takes for motion planning. Collision checking looks like the most expensive part of the motion planning. Hence wanted to know if performing collision checking on FPGA have significant advantage ? Also, I would like to know what were teams in DARPA challenge were using for computation ? Thanks.

I changed the ROS_IP and ROS_HOSTNAME to the actual ip name. And it works fine. I can detect the OMPL now and it give the trajectories. I still get the first error though which I used to get before too. Thanks !!!

I am trying to get moveit working for Barrett-WAM. WAM has an internal pc which is running wam_node. I have a driver that publishes on wam_node topics from an external PC on the same network via LAN. Driver works perfectly. I can control the arm from an external PC via LAN. I think that means all the settings are correct. settings on external PC: ROS_IP=127.0.0.1 ROS_HOSTNAME=127.0.0.1 ROS_MASTER_URI=192.168.111.101 and in /etc/hosts I have an entry " 192.168.111.101 WAM"

I have never required to change any settings on WAM (internal PC) to send messages to wam_node via LAN.

But when I run the following command on external PC roslaunch wam_moveit_config demo.launch

This is the Output: (Partial)

[ERROR] [1403555647.510816509]: The kinematics plugin (arm) failed to load. Error: According to the loaded plugin descriptions the class wam_arm_kinematics/IKFastKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are  kdl_kinematics_plugin/KDLKinematicsPlugin pr2_arm_kinematics/PR2ArmKinematicsPlugin

and

[ERROR] [1403555690.896934602]: Unable to connect to action server within allotted time

and Moveit.rviz says:

NO PLANNING LIBRARY LOADED

Does moveit work on network ? Am I missing something ?

Thanks in advance.