omwdunkley's profile - activity

I cant display pointcloud2s either! I use the same configuration file for RVIZ as I do for my rviz::VisualizationPanel (or rviz::VisualizationFrame).

• openrave_robot_control provides a controller that you can plugin to the rest of your system. it is meant for people writing robot drivers to get their robot working.

• openrave_actionlib is meant to offer the actionlib controllers to openrave.

• openraveros allows openrave to be controlled through the ROS network, but in reality this is rarely necessary for beginners. Most likely, you will create the openrave core environment, load your scene, and process ROS services or send ROS topics.

The orrosplanning planning has recently got 3 new scripts that connect it to the ROS world and offer planning services: armplanning_openrave.py, graspplanning_openrave.py, and ik_openrave.py. There are test files in the orrosplanning/test folder for each service.

Basically think of openrave as node that can process ROS services like motion planning.

Hey guys!

Im attempting to get an arm up and running with openrave (originally I was going to attempt to do it the ros manipulation pipeline way, which looked a bit like overkill to me). A friend introduced me to openrave, which looks faster and easier to setup. I have played around with basic python scripts (non ros) to control openrave, but I am some what confused to what the recommended way to use it with ROS is.

What is your guys general setup for using ROS together with Openrave?

My slight confusion begins with the different openrave_planning sub packages:

• openraveros
• openrave_robot_control
• openrave_actionlib

I think Im missing the overview of the above. How do they work together/can one combine them? What are the typical sorts of usecases for each? What are the other things I need to implement (and with which restrictions?)

As far as I understood, openraveros is basically openrave running with its core functionality exposed to the ros network through services; and openrave_robot_control a way to interface openrave directly with a robot? I see it has simulation server and TF sender too. I originally though that openrave_robot_control was a more specific implementation of openraveros, but its missing lots of the general openrave functionality (ie services) that openraveros provides. Where does openrave_actionlib fit into place/integrate with the rest?

Whats the recommended way to actually move the arm? For now the python scripts I played with outputted a trajectory (time stamp + joint angles). Is it recommened I parse this and send the hardware these angles, or is there a better way?

What are your guys general setups?

Any hints, ideas, etc that you have learnt from experience, what do you recommend?

If you could start over, would you implement it the same way?

I realise I have many vague questions, I purposely left it rather general. I thought I (and anyone else about to dive into the world of ROS&OpenRave) would attempt to learn from your guys experience before I get started (would probably just go with openraveros and use it as I did with the non-ros python scripts).

Any comments appreciated, thanks!

Thanks! -Ollie

PS: I would add "openrave_robot_control" as a tag, but the length is limited to 20chars.

Please see system requirements page to see if your GPU/GPU driver is supported.

If your driver is not on the list, you can check to see if you have direct rendering capability for image sensor simulations and the gazebo gui:

$ glxinfo
name of display: :0.0
display: :0  screen: 0
direct rendering: Yes
server glx vendor string: NVIDIA Corporation
server glx version string: 1.4
server glx extensions: ...

Without proper GPU support, you can try running headless.

If above doesn't apply, please also post a backtrace for further diagnostics.

Thanks.

Hey guys,

I am attempting to see the OMPL in action, so I was folling part 6 of the MoveArmJointGoal tutorial.

When I attempt to roslaunch pr2_empty_world.launch gazebo briefly opens, then suddenly closes with some red text left in the console.

Here are the last few lines of the console output:

loading model xml from ros parameter
attempting to spawn robot in simulation
waiting for service spawn_urdf_model
directory [/tmp/gazebo-ollie-0] already exists (previous crash?)
the owner gazebo server (pid=30032) is not running.
deleting the old information of the directory [/tmp/gazebo-ollie-0]
Param [quickStep] is deprecated: [replace quickStep with stepType]
Param [quickStepIters] is deprecated: [replace quickStepIters with stepIters]
Param [quickStepW] is deprecated: [replace quickStepW with stepW]
Gazebo successfully initialized
[ INFO] [1299245159.191944453]: Starting to spin camera_synchronizer at 100.000000 Hz...
[ INFO] [1299245160.622058119, 0.001000000]: INFO: gazebo_ros_laser plugin artifically sets minimum intensity to 101.000000 due to cutoff in hokuyo filters.
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
spawning success None
[gazebo-2] process has died [pid 30174, exit code -11].
log files: /home/ollie/.ros/log/ecba1f0e-4662-11e0-92e8-00e09122c142/gazebo-2*.log
[base_hokuyo_node-15] process has died [pid 30307, exit code -11].
log files: /home/ollie/.ros/log/ecba1f0e-4662-11e0-92e8-00e09122c142/base_hokuyo_node-15*.log
[tilt_hokuyo_node-16] process has died [pid 30309, exit code -11].
log files: /home/ollie/.ros/log/ecba1f0e-4662-11e0-92e8-00e09122c142/tilt_hokuyo_node-16*.log
[camera_synchronizer_node-17] process has died [pid 30311, exit code -11].
log files: /home/ollie/.ros/log/ecba1f0e-4662-11e0-92e8-00e09122c142/camera_synchronizer_node-17*.log

Is there anything else I need to do prior to launching? Here are the logs mentioned above:

• gazebo-2*.log
• base_hokuyo_node-15.log
• tilt_hokuyo_node-16.log
• camera_synchronizer_node-17.log

Running c-turtle installed from the debian packages, ubuntu 10.10, 256MB 8600M, 2.4GHz Core2Duo, 3GB ram, etc. Thanks in advance,

-Oliver

FYI: rosoct has been retired, which is why it is no longer present on the wiki. Also, it is not compatible with ROS Diamondback.

Hey all, my first post here :)

I'm trying to compile rosoct.

1. The svn on the rosoct wiki does not work. After browsing, I found this one: https://code.ros.org/svn/ros/stacks/r... Should this be the one on the wiki?

2. Is there some way to make rosoct compile with octave3.2headers instead of the older octave3.0headers? While compiling with 3.2 I receive the following errors:

   ~/ros/rosoct/rosoct.cpp: In member function ‘virtual void RoscppSubscription::dowork(OctaveMsgDeserializer*)’: ~/ros/rosoct/rosoct.cpp:455: error: ‘class uint8NDArray’ has no member named ‘resize_no_fill’ ~/ros/rosoct/rosoct.cpp: In member function ‘virtual void RoscppService::dowork()’: ~/ros/rosoct/rosoct.cpp:582: error: ‘class uint8NDArray’ has no member named ‘resize_no_fill’

Thanks in advance!