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2019-07-26 10:44:07 -0500 edited answer Is SMACH unmaintained?

A debian for SMACH was released for Melodic (sudo apt install ros-melodic-smach). That's a good sign it's not going away

2019-07-26 10:28:49 -0500 answered a question Is SMACH unmaintained?

A debian for SMACH was released for Melodic (sudo apt install ros-melodic-smach). That's a good sign that it's not going

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2019-07-05 16:30:42 -0500 commented answer Realsense Camera Performance Degrades Quickly

A busy USB bus probably isn't the problem unless you have lots of stuff plugged in to USB ports (for example, 3 RealSens

2019-07-05 16:22:01 -0500 commented answer Realsense Camera Performance Degrades Quickly

I would start with System Monitor. It shows network bandwidth and CPU load.

2019-07-05 13:17:49 -0500 edited answer Realsense Camera Performance Degrades Quickly

It sounds like you might be bandwidth-limited in one way or another. Busy USB bus? Is this over a busy ethernet connecti

2019-07-05 13:16:42 -0500 answered a question Realsense Camera Performance Degrades Quickly

It sounds like you might be bandwidth-limited in one way or another. Busy USB bus? Is this over a busy ethernet connecti

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2019-05-13 08:53:59 -0500 answered a question PointCloud visualised in Rviz has the wrong orientation

You can change the orientation of the link that the camera attaches to. By default, it's called camera_link. So go into

2019-05-01 08:29:06 -0500 answered a question JointTrajectoryController ( no p gain specified)

https://answers.ros.org/question/321232/error-no-p-gain-specified-for-pid/

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2019-04-14 18:23:00 -0500 commented answer Retrieve interpolated desired positions from JointTrajectoryController without execution?

Maybe the topic has 'goal' in it, because it's sending a goal to the action server

2019-04-14 17:24:55 -0500 commented answer Retrieve interpolated desired positions from JointTrajectoryController without execution?

I don't recall exactly what the topic is. Probably state/desired. And yes, you would be able to see the whole trajectory

2019-04-14 17:16:14 -0500 answered a question Retrieve interpolated desired positions from JointTrajectoryController without execution?

One way you could do this is to remap the outgoing command to a different topic, so it doesn't go to the ROS controller.

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2019-04-04 15:07:29 -0500 edited answer Add RViz collision scene to Planning Scene

I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods call

2019-04-04 14:55:02 -0500 answered a question Add RViz collision scene to Planning Scene

I'm not really familiar with this, but looking at the documentation for moveit_core::planning_scene, it has methods call

2019-03-05 16:55:25 -0500 answered a question Force Control/Impedance Control

I don't know if anybody has defined ros_control velocity_controllers for the Panda. If they have, this pull request to r

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2019-02-18 16:34:24 -0500 commented answer which rostopic should 3rd part controller publish to, to control a real Universal Robot?

See the Github issue

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2019-01-18 08:50:05 -0500 answered a question Setting individual velocity setpoints in pid control

The text I see there says, The multiple controllers may subscribe to different, or to the same setpoint topic So

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2019-01-11 13:08:11 -0500 edited answer Confused about loading ros_control and MoveIt! controllers

It looks like MoveIt! and ros_control need separate yaml files. I named the MoveIt! file moveit_controllers.yaml: contr

2019-01-11 12:42:05 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 12:32:56 -0500 marked best answer Confused about loading ros_control and MoveIt! controllers

It seems that MoveIt! expects the controllers.yaml to have controller_list: at the top, like this:

controller_list:
  - name: left_vel_based_pos_traj_controller
    joints:
      - left_ur5_shoulder_pan_joint
      - left_ur5_shoulder_lift_joint
      - left_ur5_elbow_joint
...

This puts all of the controller parameters in one giant string, with the parameter name controller_list. Then I have trouble loading the ros_control settings because they look for individual parameters. I get errors like:

Could not load controller 'left_vel_based_pos_traj_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/left_vel_based_pos_traj_controller')?

Does anybody have an example of how you load a controller from controller_list? My best guess so far was:

  <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="controller_list/left_vel_based_pos_traj_controller">
  </node>

I'm thinking I may need to load 2 nearly-identical yaml files: one for MoveIt!, one for ros_control.

2019-01-11 12:28:55 -0500 edited answer Confused about loading ros_control and MoveIt! controllers

It looks like MoveIt! and ros_control need separate yaml files. I called the MoveIt! file moveit_controllers.yaml: cont

2019-01-11 12:28:40 -0500 answered a question Confused about loading ros_control and MoveIt! controllers

I did find a solution. It looks like MoveIt! and ros_control need separate yaml files. I called the MoveIt! file moveit_

2019-01-11 11:43:30 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 11:43:08 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 11:41:19 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 11:40:57 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 11:38:07 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 11:24:05 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list

2019-01-11 11:14:21 -0500 edited question Confused about loading ros_control and MoveIt! controllers

Load ros_control controllers from a namespace It seems that MoveIt! expects the controllers.yaml to have controller_list