prrraveen's profile - activity

Could someone please explain me the following in one line joint state, joint command, position controlled joint, velocity controlled joint, effort controlled joint.

I am reading ros_control and I keep getting these terminology again and again.

@gvdhoorn. setup.zsh seems working. it is not giving any error. Could you please write an answer so I can mark as correct answer. Hopefully explaining the underline issue. Thanks

I tried it in normal shell. I am getting same error.

Yes, I am using zsh. I suspect that is causing issue. I will try in normal bash shell and let you know. Thanks

I followed this installation guide. I didn't get any error while installing.

but source /opt/ros/kinetic/setup.bash throw error

/opt/ros/kinetic/setup.bash:.:8: no such file or directory: /home/praveen/catkin_ws/setup.sh

I get similar error in catkin workspace source devel/setup.bash throw devel/setup.bash:.:8: no such file or directory: /home/praveen/catkin_ws/setup.sh

when running this command inside devel dir. it returns

praveen@praveen ~/catkin_ws/devel
 % source setup.bash 
/opt/ros/kinetic/etc/catkin/profile.d/05.catkin_make.bash:67: command not found: complete
/opt/ros/kinetic/etc/catkin/profile.d/05.catkin_make_isolated.bash:65: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:961: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:962: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:963: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:964: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:965: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:966: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:967: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:968: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:969: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:970: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:971: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:972: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:973: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:974: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:975: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:976: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:977: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:978: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:979: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:980: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:981: command not found: complete
/opt/ros/kinetic/share/rosbash/rosbash:982: command not found: complete
/opt/ros/kinetic/etc/catkin/profile.d/20.transform.bash:23: command not found: complete
/opt/ros/kinetic/etc/catkin/profile.d/20.transform.bash:42: command not found: complete

echo $ROS_PACKAGE_PATH outputs /opt/ros/kinetic/share

% cat /opt/ros/kinetic/setup.bash
#!/usr/bin/env bash
# generated from catkin/cmake/templates/setup.bash.in

CATKIN_SHELL=bash

# source setup.sh from same directory as this file
_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
. "$_CATKIN_SETUP_DIR/setup.sh"

I am sending jointTrajectory message to Ardunio over rosserial. It is generated by moveit commander command line tool. The message is of 80 bytes ( "sys.getsizeof(goal.trajectory)" in my python program returns 80 bytes)

But I get following error on rosserial terminal

[ERROR] [WallTime: 1438503253.569131] Message from ROS network dropped: message larger than buffer.

 I have increased the input and output buffer size to 1024 by following the answers http://answers.ros.org/question/20807...

http://wiki.ros.org/rosserial/Overvie...

I have rebuild the ardunio_client library in ardunio sketch dir using

rosrun rosserial_arduino make_libraries.py .

I am not able to figure out why a 80 byte message is dropping even though it is way within the limits.

Here are the changes I made in rosserial ros package

ros.h

#if defined(__AVR_ATmega8__) || defined(__AVR_ATmega168__)
    /* downsize our buffers */
      typedef NodeHandle_<ArduinoHardware, 6, 6, 1024, 1024> NodeHandle;

    #elif defined(__AVR_ATmega328P__)

      typedef NodeHandle_<ArduinoHardware, 25, 25, 1024, 1024> NodeHandle;

    #else

node_handle.h

  /* Node Handle */
  template<class Hardware,
           int MAX_SUBSCRIBERS=25,
           int MAX_PUBLISHERS=25,
           int INPUT_SIZE=1024,
           int OUTPUT_SIZE=1024>

Could some give me a hint to fix this.I appreciate your time and expertise

Hey Naman , Were you able to solve this?.I am facing the same issue.

did you find any solution?

I am going through moveit pr2 tutorials and I see .launch.xml extension .Why do we need two extension. For example pr2_moveit_controller_manager.launch.xml

I am having the same issue.Are you able to resolve it?

HI , I setup moveit for my simple urdf. I get this error although I have setup kin. chain while creating group.

All is well! Everyone is happy! You can start planning now!

[ INFO] [1437491541.950725317]: Loading robot model 'myfirst'...
[ INFO] [1437491542.102668136]: Loading robot model 'myfirst'...
[ERROR] [1437491542.103025494]: Group 'right_arm' is not a chain
[ERROR] [1437491542.103109791]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'right_arm'
[ERROR] [1437491542.103519521]: Kinematics solver could not be instantiated for joint group right_arm.
[ INFO] [1437491542.153130872]: Starting scene monitor

myfirst.srdf

<robot name="myfirst">
    <group name="right_arm">
        <chain base_link="base_link" tip_link="x-carriage" />
    </group>
    <group_state name="home" group="right_arm">
        <joint name="gripper_extension" value="0" />
    </group_state>
    <group_state name="end" group="right_arm">
        <joint name="gripper_extension" value="8.6" />
    </group_state>
    <group_state name="mid" group="right_arm">
        <joint name="gripper_extension" value="4.3966" />
    </group_state>
    <virtual_joint name="base" type="fixed" parent_frame="odom" child_link="base_link" />
    <disable_collisions link1="base_link" link2="x-carriage" reason="Adjacent" />
</robot>

basic_shape.urdf

<?xml version="1.0"?>
<robot name="myfirst">
      <link name="base_link">
        <visual>
          <origin xyz="4.5 0 0" rpy="0 0 0" />
          <geometry>
            <box size="9 .2 .2" />
          </geometry>
          <material name="blue">
            <color rgba="0 0 .8 1"/>
          </material>
        </visual>
      </link>

      <link name="x-carriage">
        <visual>
          <origin xyz=".2 0 0" rpy="0 0 0" />
          <geometry>
            <box size=".4 .4 .4" />
          </geometry>
          <origin  xyz="0.1 0 0"/>
          <material name="Gray">
            <color rgba=".7 .7 .7 1"/>
          </material>
        </visual>
      </link>

      <joint name="gripper_extension" type="prismatic">
        <parent link="base_link"/>
        <child link="x-carriage"/>
        <limit effort="1000.0" lower="0" upper="8.6" velocity="0.5"/>
        <origin  xyz="0 0 0"/>
      </joint>

</robot>