ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

bluefish's profile - activity

2022-05-20 08:56:12 -0500 received badge  Good Answer (source)
2022-05-20 08:56:12 -0500 received badge  Enlightened (source)
2021-11-24 00:46:15 -0500 received badge  Famous Question (source)
2020-03-04 02:19:49 -0500 received badge  Favorite Question (source)
2020-03-02 07:23:57 -0500 received badge  Nice Question (source)
2019-03-02 05:59:23 -0500 received badge  Nice Answer (source)
2018-03-20 20:27:35 -0500 received badge  Favorite Question (source)
2017-07-25 10:41:11 -0500 received badge  Famous Question (source)
2017-07-17 02:12:39 -0500 marked best answer Creating a ROS msg and srv - Tutorial

Hi!

I have the same problem as mentioned here: Error using rosmsg in "Creating msg and srv" Tutorial

In section 2.2 of this tutorial when typing the command

$ rosmsg show beginner_tutorials/Num

I don't get

init64 num

but

Unable to load msg [beginner_tutorials/Num]: Cannot locate message [Num]: unknown package [beginner_tutorials] on search path ...

In the other thread the solution is: I should simply run:

$ cd ~/catkin_ws/ then $ catkin_make

But there I get the Error:

CMake Error at /home/user/catkin_ws/build/beginner_tutorials/cmake/beginner_tutorials-genmsg.cmake:3 (message):
Could not find messages which '/home/user/catkin_ws/src/beginner_tutorials/msg/Num.msg' depends on.
Did you forget to specify generate_messages(DEPENDENCIES ...)?

Cannot locate message [init64] in package [beginner_tutorials] with paths
[['/home/user/catkin_ws/src/beginner_tutorials/msg']] Call Stack (most recent call first): /opt/ros/indigo/share/genmsg/cmake/genmsg-extras.cmake:304 (include)
beginner_tutorials/CMakeLists.txt:68 (generate_messages)

-- Configuring incomplete, errors occurred! See also "/home/user/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/user/catkin_ws/build/CMakeFiles/CMakeError.log". make: * [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed

What do I do wrong. I changed the CMakeList.txt exactly as said in the tutorials and checked it a lot of times. And I put in

catkin_package(CATKIN_DEPENDS message_runtime)

Can anybody help me out here? Thanks!!

Edit:

Here is the CMakeLists.txt (I removed the commented parts):

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
add_message_files(
   FILES
   Num.msg
)
generate_messages(
   DEPENDENCIES 
   std_msgs
)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

And here the package.xml:

<?xml version="1.0"?>
<package>
  <name>beginner_tutorials</name>
  <version>0.0.0</version>
  <description>The package for beginners</description>


  <maintainer email="user@todo.todo">user</maintainer>

  <license>TODO</license>


  <build_depend>message_generation</build_depend>

  <run_depend>message_runtime</run_depend>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>

  <export>

  </export>
</package>
2017-04-30 02:57:57 -0500 marked best answer Align endeffector of robot with vector

Hi!

as it says in the header I want to align my endeffector with a vector in space. In my case the z-axis of the EE should be aligned with the vector. This means that the x-, and y-axis are not specified.

Right now I only manage to navigate the EE to a certain pose where the x-, y-, and z-axis are all determined. But sometimes the robot cannot reach this pose due to collisions or being out of reach. A simple turn around the z-axis would do the trick that the pose can be reached and still the goal "aligning with the vector" is achieved.

My question: Is there an implementation in ROS or particularly in Moveit to automatically solve this?

Best regards!

Edit:

My approach right now is to calculate the path to the target with angles from -180° till +180° in steps of 10° (All of them fullfill the requirement of alignment with the vector, but not all of them are possible for the robot). After that I know which angels are possible and can choose. But this takes some minutes as I have to set up the planner each time.

So again the question: I'm looking for a way to this faster. And maybe there is an implementation? For example constraints for the target pose or something?

2017-04-03 01:56:10 -0500 marked best answer Getting the joint values of a computed path to a pose goal

Hi everybody,

I'm using moveit with an UR5. The planner I use is the RRTConnectkConfigDefault-planner. The goal for the planner is a pose.

My question is now: Is there a way to retrieve the joint values of the six axes of the computed goal. Maybe out of my_plan from bool success = group.plan(my_plan);. Maybe something like moveit_msgs::RobotTrajectory trajectory = my_plan.trajectory_;. But I here I got stuck and couldn't find anything in the documentation.

And second: Is there a way to get all possible IK-joints (all IK-solutions which also have no collisions) and choose the goal-joints out of them?

Thanks in advance and regards!

2017-03-31 16:03:57 -0500 marked best answer Location of move_group_interface for UR5

Hi!

I'm trying to control an UR5 via MoveIt! in Indigo on a Linux Ubuntu 14.04 system.

I did all the tutorials of ROS and Getting-Started with an UR5. And I do find the tutorial for Move Group Interface/C++ API. And there I understand the single points described.

But I do not understand which file exactly I have to change here. Where can I find or where do I have to build this file? Is it somewhere in the catkin-workspace or somewhere in opt/ros/...

Did I miss a tutorial at some point where this is described?

Thanks in advance!

2017-03-31 15:47:16 -0500 marked best answer Problems using descartes package

Hi!

I would like to use the descartes-package and I'm facing some issues. I'm using an UR5 with the moveit- and universal_robot package and want use the descarts-package parallel to that. To achieve that I just copied the code of the descartes-tutorial in the existing c++-API and adjusted it for the UR5.

Until // 3. Create a planner and initialize it with our robot model everything seems to work fine, the robot model initialization seems to be okay but at // 4. Feed the trajectory to the planner I get errors.

[ INFO] [1431433577.983985044]: PreviousID: ID0 was not found
[ERROR] [1431433578.183296398]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.383429099]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.578341457]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.771480441]: Found 0 joint solutions out of 10 iterations
[ERROR] [1431433578.971189692]: Found 0 joint solutions out of 10 iterations
[ WARN] [1431433578.971260392]: Failed for find ANY joint poses, returning
[ INFO] [1431433578.971298149]: CartID: ID1 JointPoses count: 0
[ WARN] [1431433578.971329605]: no joint solution for this point... potential discontinuity in the graph
[ERROR] [1431433579.168980816]: Found 0 joint solutions out of 10 iterations

and so on until

[ERROR] [1431433587.831773855]: no joint solutions defined, thus no graph vertices
[ERROR] [1431433587.831796860]: unable to populate graph from input points
[ERROR] [1431433587.831822842]: Could not solve for a valid path

First I thought it's because it cannot reach the target pose, but I checked it for several poses which should be reachable and every time I get the same errors.

Does somebody know how I could solve this?

An additional question would be, whether the descartes-planner is considering the collision_scene of moveit?

Thanks and regards

EDIT: This is one of the trajectories I trying to reach. I think those could definitely be reached.

// 1. Define sequence of points
  TrajectoryVec points;
  for (unsigned int i = 0; i < 10; ++i)
  {
    Eigen::Affine3d pose;
    pose = Eigen::Translation3d(0.370 - 0.05 * i, -0.450, 0.675);
    descartes_core::TrajectoryPtPtr pt = makeTolerancedCartesianPoint(pose);
    points.push_back(pt);
  }
2017-03-20 06:06:20 -0500 received badge  Notable Question (source)
2016-12-16 01:07:20 -0500 received badge  Taxonomist
2016-05-01 10:41:35 -0500 marked best answer CMake Error Findurdf.cmake

Hi,

I'm running the UR5-package on indigo against Ubuntu 14.04. Everything works fine, but since a while I get the following error when catkin_make my workspace.

CMake Error at /opt/ros/indigo/share/kdl_parser/cmake/kdl_parserConfig.cmake:165 (find_package):
  By not providing "Findurdf.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "urdf", but
  CMake did not find one.

  Could not find a package configuration file provided by "urdf" with any of
  the following names:

    urdfConfig.cmake
    urdf-config.cmake

  Add the installation prefix of "urdf" to CMAKE_PREFIX_PATH or set
  "urdf_DIR" to a directory containing one of the above files.  If "urdf"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  /opt/ros/indigo/share/moveit_core/cmake/moveit_coreConfig.cmake:165 (find_package)
  /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package)
  universal_robot/ur_kinematics/CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/geissler/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/geissler/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

I did not knowingly change anything. Anybody knows where that does come from?

Best regards

P.S.: please note I'm a beginner concerning ROS...

2016-03-06 03:54:08 -0500 marked best answer Installing package from source in Indigo

Hi!

I know this question has been asked dozen of times already. So sorry for asking it again, but I really have problems dealing with it and I'm trying for hours now. It seems like the answers for older releases of ROS don't work for Indigo or maybe just for me. :(

I'd just want to install the descartes-package from source as there is no sudo apt-get install ros-indigo-descartes.

Can somebody help me out here please?

Edit:

Among others I already tried this approach: there when I type rosws set --svn https://github.com/ros-industrial-consortium/descartes.git the error appears ERROR in config: Command requires a target workspace.

also this one: but when entering wstool merge descartes_catkin.rosinstall, I get the error ERROR in config: Is not a local file, nor a valid URL [descartes_catkin.rosinstall] : unknown url type: descartes_catkin.rosinstall

In my distress I then tried git clone https://github.com/ros-industrial-consortium/descartes.git -b -indigo-devel and then catkin_make as this was the way to get the UR-package. But then in the C-API the #include <descartes_moveit/moveit_state_adapter.h> and the other includes of descartes coud not be recognized by the compiler.

2016-01-31 10:40:22 -0500 received badge  Famous Question (source)
2015-12-23 11:56:45 -0500 received badge  Popular Question (source)
2015-12-08 07:58:52 -0500 received badge  Famous Question (source)
2015-11-16 02:29:49 -0500 received badge  Famous Question (source)
2015-10-21 11:15:44 -0500 received badge  Notable Question (source)
2015-10-21 10:34:05 -0500 received badge  Self-Learner (source)
2015-10-21 10:29:53 -0500 answered a question roslaunch as executable

Thanks to @gvdhoorn ! The following bash-file does the trick. :)

#!/bin/bash
source /opt/ros/indigo/setup.bash
source ~/catkin_ws/devel/setup.bash

xterm -e "roslaunch test test.launch"
2015-10-21 10:07:36 -0500 received badge  Popular Question (source)
2015-10-21 07:28:25 -0500 asked a question roslaunch as executable

Hi!

Maybe this is more of an Linux-question instead of ROS. But anyway, maybe someone could help:

I would like to know how I can build a single file which runs a roslaunch by double click on it.

The goal is that someone could run my ros-project who is not familiar to any shell commands or anything regarding Linux. He would just click on one file and the whole thing just starts running.

Is that possible?

Edit: I already tried a bash file (test.sh) and in it is

#!/bin/bash
xterm -e "roslaunch test test.launch"

and gave the file the permission to execute ("Allow executing file as program" in file properties). But when I run it, nothing happens. Anybody knows what I'm doing wrong?

2015-09-29 01:22:39 -0500 received badge  Famous Question (source)