AndyZe's profile - activity

I want to load 2 sets of parameters from 2 different yamls to the same namespace from a launch file, like this:

YAML1:

- id: foo1
  waypoints:
    - type: foo1

YAML2:

- id: foo2
  waypoints:
    - type: foo2

Launch file:

    <node name="foo" pkg="foo"
          type="foo" required="true">

          <!-- Common config, applicable to all robot types -->
          <rosparam file="$(arg common_maintenance_config)" command="load" ns="maintenance_motions"/>
          <!-- Configuration specific to this robot -->
          <rosparam file="$(arg robot_specific_maintenance_config)" command="load" ns="maintenance_motions"/>
   </node>

Seems pretty straight-forward, right? In practice, I find that the second set of parameters overwrites the first. So if I do rosparam get /maintenance_motions the result is:

- id: foo2
  waypoints:
    - type: foo2

So the second yaml overwrote the first one. What is the least janky workaround? I've already tried loading all parameters in the global namespace.

I ended up writing a simple Python script which concatenates the two yaml files together into one yaml file, then loads

Kinda-related question: https://answers.ros.org/question/199608/roslaunch-order-of-rosparams/ Possible answer involvin

Kinda-related question: https://answers.ros.org/question/199608/roslaunch-order-of-rosparams/ Possible answer involving

Aren't these two statements contradictory: The load command is considered additive Similarly, load commands can overri

Aren't these two statements contradictory: The load command is considered additive: Similarly, load commands can overr

Loading 2 yaml's to same parameter (ROS1 Noetic) I want to load 2 sets of parameters from 2 different yamls to the same

Loading 2 yaml's to same parameter (ROS1 Noetic) I want to load 2 sets of parameters from 2 different yamls to the same

Loading 2 yaml's to same parameter (ROS1 Noetic) I want to load 2 sets of parameters from 2 different yamls to the same

Loading 2 yaml's to same parameter (ROS1 Noetic) I want to load 2 sets of parameters from yaml to the same namespace fro

Thanks Dan! The pose tracking functionality is likely to change after Humble. A Google Summer of Code project is workin

My takeaway is to avoid Python in ROS2 like the plague :/

I want to convert either a LaunchConfiguration or a LaunchArgument to a string so I can use it in a filepath later. How to do it?

Example:

support_package = LaunchConfiguration("support_package")

declared_arguments = []

declared_arguments.append(
    DeclareLaunchArgument(
        "support_package",
        description="Name of the support package",
        choices=["abb_irb_1200_support"],
    )
)

robot_description_config = xacro.process_file(
    os.path.join(
        get_package_share_directory(support_package),  # FAILURE AT THIS LINE
        "urdf",
        "irb1200_5_90.xacro",
    )
)

The failure is:

Caught exception when trying to load file of format [py]: expected string or bytes-like object

I'm not much of a Python programmer, but an str() function would be great.

Related question: https://answers.ros.org/question/3407...

This can be caused by one of the older, buggy time parameterization algorithms in your MoveIt setup. To fix this, you ca

By the way, do you happen to work for a company starting with "I", @Hennifre?

New info about 5-dof: Pilz definitely won't work for 5-dof You can use the bio_ik solver since it returns approximate

"Did you build your workspace with both sourced?" I sourced one, built, then sourced the other, opened a new terminal,

"Did you build your workspace with both sourced?" I sourced one, built, then sourced the other, then tried to build. "

"Did you build your workspace with both sourced?" I sourced one, built, then sourced the other, then tried to build. "

"Did you build your workspace with both sourced?" I sourced one, built, then sourced the other, then tried to build. "

How to clean up ROS paths Somehow ROS2 humble and rolling got mixed up in my environment variables, like this: PATH=/us

I would: Use moveit_cpp. Tutorial here Use the Pilz industrial motion planner to plan the circular segment and the lin

I would: Use moveit_cpp. Tutorial here Use the Pilz industrial motion planner to plan the circular segment and the lin

I would: Use moveit_cpp. Tutorial here Use the Pilz industrial motion planner to plan the circular segment and the lin

Yes it is! The tutorial hasn't been updated since MoveIt1 but not much has changed: https://moveit.picknik.ai/humble/do

Send an email to hello@picknik.ai if you're interested in more detailed consulting.

This is tough. There may be additional complicating factors you haven't told me about yet. If you use regular MoveIt pl

If you can upgrade to ROS 2, hybrid planning could achieve what you want. https://moveit.picknik.ai/humble/doc/concepts