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2015-02-02 04:43:21 -0500 asked a question Which path planner is chosen if unspecified?

Hi,

I am using ros-groovy with the ur5 package and I would like to get some information about the path planners.

First is, if I do not specify a specifiy path planner, which one is being chosen? Or is there a default one? And second (still no specific solver chosen), after the path planning, can I get the name of the solver which was being chosen? I would like to do a performance benchmark of the various solvers.

2015-01-30 10:18:13 -0500 commented answer how to change default planner for moveit

which planner is used when no planner Id is specified ?

2015-01-12 08:48:51 -0500 asked a question read the data of a subscriber in matlab

Hi,

I want to use data from a topic to do data analysis in matlab. I set up a subscriber and call a callback function (example from matlab support document) like:

subscriber = rosmatlab.subscriber('TOPIC', 'std_msgs/String', 1, node); subscriber.setOnNewMessageListeners(@function1);

function1 does not have return values so if function1 looks like:

function function1(message) disp(char(message.getData())); end

,I can not access message.getData() in the original script. So how can I do that?

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2015-01-09 07:53:26 -0500 answered a question Matlab support for groovy

I found someone doing exactly this - it seems to work

http://www.brendanandrade.com/2014/02...

2015-01-09 07:24:38 -0500 asked a question Matlab support for groovy

Hi,

I am using the groovy distribution and I would like to communicate with Matlab through the ROS I/O package. On the Matlab page it is stated that hydro is necessary. Does anyone have experience if groovy works as well ?

Fabian

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2014-12-09 05:16:23 -0500 asked a question tf, translation between frames

Hi, I have a setup with multiple target frames. Now I want to get the position of my last frame in relation to the world frame. During execution typing

rosrun tf tf_echo /world /LAST_LINK

I receive exactly what I am looking for

- Translation: [20.632, 0.000, -3.759] - Rotation: in Quaternion [-0.574, -0.000, 0.819, 0.000] in RPY [-0.000, 1.222, 3.142]

How can I read these values in my program in order to perform further calculations from it?

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2014-10-27 08:02:20 -0500 commented answer path planning exceeding velocity limits of ur5
  • for some paths, even 3.5 seems not high enough
  • for others, the robot moved, but stopped at some point due to the security stop. The velocity exeeded the limits of the real robot
2014-10-27 08:00:40 -0500 commented answer path planning exceeding velocity limits of ur5

ok - I got it working so far. After checking the velocity of various paths, it seems that many trajectories have velocities of up to 3.5, so I adjusted the max_velocity level to 3.5. I could excecute some paths on the real robot. Even though, I encountered two problems afterwards:

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2014-10-10 04:12:28 -0500 answered a question path planning exceeding velocity limits of ur5

Thank you for your help. I modified the ur_bringup/launch/ur_common.launch file as stated in your option 1 but it seems to have no effect on the results.

In fact, I think the path planning function of MoveIt should be modified/constrained in such a way that it outputs only trajectories with joint velocities that are in the limits of max_velocity, right?

2014-10-10 02:34:38 -0500 asked a question path planning exceeding velocity limits of ur5

Hi,

I am using moveit for path planning of a ur5. After finding a valid path, I want to execute it to the real robot (which is connected and communicating properly) but I always receive an error message like:

[ERROR] [WallTime: 1412925263.358047] Received a goal with velocities that are higher than 2.000000

the controller reports:

[INFO][ ... ]: Received new trajectory execution service request...
[WARNING][ ... ]: Controller handle reports status FAILED
[INFO][ ... ]: Execution completed: FAILED

any ideas how to fix that ?

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2014-10-08 05:02:04 -0500 asked a question constraint path planning ur5

Hi there,

I am following this tutorial http://wiki.ros.org/Industrial/Tutori...

in order to move my real ur5. So far I get the simulated robot running using the demo.launch file from https://github.com/ros-industrial/uni... .

After specifying a desired end-effector position in the cartesian frame ( in the rviz gui) I often receive path planning which seems to be not very cost efficient. Furthermore, my robot will be mounted on a flat surface which means that the robot will collide in case any point is below z=0 of the base(world) frame.

How can I constrain the path planning in order to only get paths wich are limited to my reachable task space?