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2016-11-06 19:24:46 -0500 marked best answer question: how to make an action request to ompl_planning

Hello everyone, has someone an example or a detailed explanation on how yo make a request to the ompl_planning node? (the type of message, how is it filled and sent, how to interpret the response and get the trayectory path, etc).

Particularly I was following the arm_navigation Tutorial and for what I see in rxgraph, the ompl_planning node is the one calculating the trayectory, but what I'm actually interested in, is to get each of the configuration points of the generated path.

I'll be very thankfull for any help in this matter :)

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2014-01-28 17:26:30 -0500 marked best answer Is there a more direct way to set up a planning node in ompl?

Hi there! I've been reading about how to use ROS for a robotic arm path planning for a while and I actually got some feedback about a doubt I had in this topic.

For what I see, I'll have to write my own c++ code to define the StateValididyChecker procedure.

Now, I also understand the URDF of a robot has all the physic information one could need to extract the collision information, so isn't there a direct way that uses the URDF for the planning algorithm instead of defining a StateValidityChecker? Or am I just missing it?

Thanks a lot for the help. I'm hopping some day I could be the one answeing questions here :)

2014-01-28 17:25:53 -0500 marked best answer pr2_mechanism_controllers build error

Hello!

I was trying rosmake on pr2_controllers stack and had some errors concerning the pr2_mechanism package. I'm guessing it has something to do with Eigen library (for the record I have both diamondback and electric installed) but I don't really know how to fix it, since I'm new to ROS and Ubuntu.

Heres the build output (for electric):

[ rosmake ] Last 40 lines2_mechanism_controller... [ 1 Active 129/132 Complete ] {------------------------------------------------------------------------------- make[3]: se ingresa al directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» Scanning dependencies of target rospack_genmsg make[3]: se sale del directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» [ 76%] Built target rospack_genmsg make[3]: se ingresa al directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» Scanning dependencies of target rosbuild_precompile make[3]: se sale del directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» [ 76%] Built target rosbuild_precompile make[3]: se ingresa al directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» Scanning dependencies of target pr2_mechanism_controllers make[3]: se sale del directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» make[3]: se ingresa al directorio «/home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/build» [ 79%] Building CXX object CMakeFiles/pr2_mechanism_controllers.dir/src/laser_scanner_traj_controller.o [ 82%] Building CXX object CMakeFiles/pr2_mechanism_controllers.dir/src/caster_controller.o [ 85%] Building CXX object CMakeFiles/pr2_mechanism_controllers.dir/src/base_kinematics.o [ 88%] Building CXX object CMakeFiles/pr2_mechanism_controllers.dir/src/pr2_odometry.o In file included from /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/pr2_odometry.h:35:0, from /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp:38: /usr/include/eigen3/Eigen/Array:8:4: error: #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core. /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp: In member function ‘virtual bool controller::Pr2Odometry::init(pr2_mechanism_model::RobotState, ros::NodeHandle&)’: /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp:156:49: warning: ‘void pr2_mechanism_controllers::DebugInfo_<containerallocator>::set_timing_size(uint32_t) [with ContainerAllocator = std::allocator<void>, uint32_t = unsigned int]’ is deprecated (declared at /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/msg_gen/cpp/include/pr2_mechanism_controllers/DebugInfo.h:54) /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp:157:46: warning: ‘void pr2_mechanism_controllers::OdometryMatrix_<containerallocator>::set_m_size(uint32_t) [with ContainerAllocator = std::allocator<void>, uint32_t = unsigned int]’ is deprecated (declared at /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/msg_gen/cpp/include/pr2_mechanism_controllers/OdometryMatrix.h:39) /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp:164:53: warning: ‘void tf::tfMessage_<containerallocator>::set_transforms_size(uint32_t) [with ContainerAllocator = std::allocator<void>, uint32_t = unsigned int]’ is deprecated (declared at /opt/ros/electric/stacks/geometry/tf/msg_gen/cpp/include/tf/tfMessage.h:40) /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp:166:75: warning: ‘void pr2_mechanism_controllers::BaseOdometryState_<containerallocator>::set_wheel_link_names_size(uint32_t) [with ContainerAllocator = std::allocator<void>, uint32_t = unsigned int]’ is deprecated (declared at /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/msg_gen/cpp/include/pr2_mechanism_controllers/BaseOdometryState.h:55) /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/src/pr2_odometry.cpp:167:82: warning: ‘void pr2_mechanism_controllers::BaseOdometryState_<containerallocator>::set_drive_constraint_errors_size(uint32_t) [with ContainerAllocator = std::allocator<void>, uint32_t = unsigned int]’ is deprecated (declared at /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers/msg_gen/cpp/include/pr2_mechanism_controllers/BaseOdometryState.h:59) /home/labrobotica/ros_workspace_elec/pr2_controllers/pr2_mechanism_controllers ... (more)

2014-01-28 17:25:41 -0500 marked best answer ompl_ros_interface/tutorials: motion planning failed

Hello, I was trying the simulation example in pr2 robot of this tutorial and when I enter the last command (rosrun example_ompl_tutorials ompl_joint_goal) the console answers "motion planning failed". In rxconsole it stated "Planning scene hasn't been set".

Anyone knows what happened? By the way I made sure to change all motion_planning_msgs for arm_navigation_msgs in the cpp file, since I'm using the electric version.

2014-01-28 17:25:02 -0500 marked best answer does the OMPL package work for diamondback?

It comes by default with electric, but I can't seem to find it in diamondback version. Thanks a lot

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2013-04-24 06:11:24 -0500 commented question get_fk works but get_ik doesn't from same service node

It does work that way! Thank you! But it also means that the warehouse viewer is doing something that we're not and I can't figure out what is it! Could it be it's not properly instantiating ArmKinematicsConstraintAware with the custom robot parameters? or something about TF? I'll keep looking!

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2013-04-22 17:49:00 -0500 commented question get_fk works but get_ik doesn't from same service node

I'm dealing with the same issue now Martin and I have no idea about what to do. Did you find a workaround? Regards, Carlos

2013-04-16 07:02:37 -0500 asked a question motion planning without orientation constrains?

Hello! I was wondering if you could ask for motion planning without specifying orientation constraints for the end effector.

Thanks a lot!

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2012-12-06 18:21:27 -0500 marked best answer Need help with RRT star algorithm for robotic arm

Hello! I'm new at ROS and was hoping to make a robotic arm with 5 DoF plan paths with this algorithm (RRT star with Ball Tree). I have found references to it in the OMPL package, but I still don't know how to use it. I'll appreciate any guidance in this matter!

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