Simon Schmeisser's profile - activity

For completeness: http://wiki.ros.org/rospy/Overview/Services#persistent_connections shows how to enable persistent conn

I would expect that to mostly work the same. Maybe add the some more details if you encounter any problems?

In one of the last lines it says it failed to get the home directory for the user. Typically those scripts are not execu

please also check this https://github.com/ros-industrial/staubli_experimental/issues/39

wrt the factor, please have a look at rostopic echo /joint_trajectory_action/goal to see what actually gets transferred

You wrote: <-- Velocity is wrong on last point, but duration correct but I'm not sure why that would be wrong? I thi

There is a severe lack of people understanding meshes, shading and especially shaders all around. I guess the default lo

https://github.com/ompl/ompl/blob/374d3fd47fec18125baa34135efa58941711bf2a/src/ompl/tools/config/src/SelfConfig.cpp#L98

0.0 means that it uses some heuristics, I think it's either the workspace diameter or something similar. 20 and 40 soun

I'm not sure all of these parameters get passed on correctly. Your best bet would be to have a look at the code directly

note that you can have a debug package that you install whenever necessary

you could still have a deb that installs to /opt and another linked ws for the single package that is to be debugged in

why do you want to compile from code? We build a deb package (should be several ...), put it to a local repository and r

Nice to hear about the docker (and ppa) for openrave. We should add this to MoveIt!s tutorials

I couldn't get this to work with rqt_plot and there is no debug output. However I found a nice little plugin for rqt tha

I couldn't get this to work with rqt_plot and there is no debug output. However I found a nice little plugin for rqt tha

Padding between Robot and "fixed" environment Hi, this is a bit of a best practise question I guess. We have recently s

how to use ros::console::print Hi I'm trying to set up a message handler that routes Qt messages to ros::console loggin

For the "old" way using catkin_make, I first used catkin_init_workspace to set up a workspace containing the packages I

you should never need to run qtcreator as sudo!

did you succeed in writing such a script? Mind to share?

I'm trying to implement a classical bin picking using Moveit.

So the problem I'm trying to solve at the moment is to find out which ones of several available boxes or objects can be grasped and transported away without collisions. I have a list of possible grasp positions and objects and search for which one there is

(a) a path for the empty graber towards the object and

(b) a path for the graber and the attached object towards a save position above the box

So now I am wondering how to tell the MoveGroup interface that I want to temporarily attach the object to the arm for planning. As far as I understand there is MoveGroup::setStartState(RobotState) and then I should be able to somehow attach the object and use MoveGroup::plan() for further planning.

So how do I

1. Construct the correct RobotState given an MoveGroup::Plan/RobotTrajectory from which I want to use the end state
2. How do I attach the box?

My current Code so far:

std::vector<grasp> possibleGrasps = provider.getPossibleGrasps();

Eigen::Affine3d preApproach;
preApproach = Eigen::Translation3d(Eigen::Vector3d(1.1, 0, 1.0)) * Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX());
group.setPoseTarget(preApproach);
group.move();

bool anyPathFound = false;

moveit_msgs::CollisionObject collision_object;
moveit::planning_interface::MoveGroup::Plan plan;

visual_tools_->setLifetime(20);


BOOST_FOREACH(Grasp grasp, possibleGrasps)
{
      group.setPoseTarget(grasp.graspPosition);

      visual_tools_->publishAxis(grasp.graspPosition);

      moveit::planning_interface::MoveItErrorCode error = group.plan(plan);

      if (error != moveit_msgs::MoveItErrorCodes::SUCCESS)
      {
             continue;
      }

      group.setStartState(plan.);

      // Object andocken (an RobotState) und weiteren Weg planen

      if (error == moveit_msgs::MoveItErrorCodes::SUCCESS)
       {
             anyPathFound = true;
             collision_object = grasp.object;
             break;
        }
 }

if (!anyPathFound) {
      ROS_ERROR("Could not find any valid pick");
      break;
 }

group.execute(plan);

provider.claimObject(collision_object.id);

ROS_INFO("Attach the object to the robot");
group.attachObject(collision_object.id);
/* Sleep to give Rviz time to show the object attached (different color). */
sleep(0.5);


Eigen::Affine3d approach_place = tower[box];
approach_place.translate(-0.33 * Eigen::Vector3d::UnitZ());

group.setPoseTarget(approach_place);
group.move();
group.setPoseTarget(tower[box]);
bool placed = group.move();
ros::Duration(0.5).sleep(); // sleep for half a second

ROS_INFO("Detach the object from the robot");
group.detachObject(collision_object.id);
/* Sleep to give Rviz time to show the object detached. */
sleep(0.5);

I'm using ros Indigo on Kubuntu 14.04 and the included moveit

Here is a short sketch how to do it:

Get a PlanningScene (by using LockedPlanningScene from PlanningSceneUpdater)

diff and detachFromParent (necessary?) to not spoil your "real" PlanningScene

Now you can use all of the api of PlanningScene and RobotState to check for collisions etc. Most of the trajectory planning code also allows passing in a PlanningScene to operate on

Hi Everybody

Every once in a while I see some strange movements executed by our robots (mitsubishi, fanuc, ... - industrial 6-axis). Since execution has continued already it's of course difficult to debug this. I would like to be able to record both what I told the robot to do and what it then did.

I think rosbagging /joint_path_command and /joint states should do the trick. How do I play back those? I would like to see them visualized in rviz

Does anybody do this? Got some code to share?

Thanks a lot

Simon

Well, I haven't found some ready to run API, but I think you should be able to take a PlanningScene, add a placeholder object, check for collisions using the planning scene api and remove it. So compared to the approach in my question you save sending everything to MoveGroup and don't risk race cond

This really works the best and should be upvoted some more. Don't forget the section about modifing qtcreator.desktop at ROS wiki: ROS IDEs

I'm not sure what exactly you mean by "same", but try the following:

1. in a terminal make sure cmake works and all path are set
2. start qtcreator from this terminal
3. see if it works

Your package looks quite nice, is the code for kukavarproxy available as well? I can't seem to find it anywhere?