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2015-07-10 03:52:41 -0500 asked a question Problem with MoveIt! perception

I am trying to add perception capabilities to my MoveIt! configuration.

I am running ros indigo, and I currently have Gazebo running, with MoveIt! successfully talking to the controllers and moving the (simulated in Gazebo) robot.

In order to implement arm movements that do not collide with the environment, I added a camera (libgazebo_ros_openni_kinect.so) to my robot description, and followed the instructions from the MoveIt! tutorials.

Specifically, I added sensors_rgbd.yaml to config folder:

sensors: 
 - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
   point_cloud_topic: /camera/camera/depth_registered/points
   max_range: 5.0
   point_subsample: 1
   padding_offset: 0.01
   padding_scale: 1.0
   filtered_cloud_topic: filtered_cloud

which is successfully loaded via the sensor_manager.launch.xml file (I can see the parameters loaded with rosparam). Moreover I have the following parameters set:

<param name="octomap_frame" type="string" value="ra_base_link" />
<param name="octomap_resolution" type="double" value="0.025" />
<param name="max_range" type="double" value="5.0" />

where ra_base_link is a fixed frame in my robot.

I confirmed that the /camera/camera/depth_registered/points is indeed published correctly, but I get nothing (for the collision environment) neither in move_group/monitored_planning_scene nor in the RViZ environment.

Any suggestions?

Cheers,

Nikitas

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2015-03-09 06:23:27 -0500 asked a question Cannot find controller

Hi,

I am having trouble simulating the shadow robot in the gazebo simulator.

I receive the following error:

[ERROR] [1425897239.729246960, 50.527000000]: Could not load controller 'r_arm_joint_trajectory_controller' because controller type 'robot_mechanism_controllers/JointSplineTrajectoryController' does not exist.

The controller r_arm_joint_trajectory_controler is defined in:

part of file: arm_controller.yaml

r_arm_cartesian_pose_controller:
  type: robot_mechanism_controllers/CartesianPoseController
  root_name: shadowarm_base
  tip_name: palm
  fb_trans:
    p: 20.0
    i: 0.5
    d: 0.0
    i_clamp: 1.0
  fb_rot:
    p: 0.5
    i: 0.1
    d: 0.0
    i_clamp: 0.2

r_arm_joint_trajectory_controller:
  type: robot_mechanism_controllers/JointSplineTrajectoryController
  joints:
    - ShoulderJRotate
    - ShoulderJSwing
    - ElbowJSwing
    - ElbowJRotate
    - WRJ2
    - WRJ1
  gains:
    ShoulderJRotate: {p: 140.0, d: 30.0}
    ShoulderJSwing: {p: 140.0, d: 30.0}
    ElbowJSwing: {p: 140.0, d: 30.0}
    ElbowJRotate: {p: 140.0, d: 30.0}
    WRJ2: {p: 140.0, d: 30.0}
    WRJ1: {p: 140.0, d: 30.0}

I have package ros-indigo-robot-mechanism-controllers installed. I am running ros indigo on ubuntu 14.04.2.

Nikitas

2015-03-09 06:23:26 -0500 asked a question Failure to load controller

Hi,

I am trying to run on simulation the shadow robot hand via the command:

roslaunch sr_hand gazebo_arm_and_hand.launch

However I get the following error:

The particular controller is being loaded by the following .yalm file:

part of the file arm_controller.yaml:

r_arm_joint_trajectory_controller: type: robot_mechanism_controllers/JointSplineTrajectoryController joints: - ShoulderJRotate - ShoulderJSwing - ElbowJSwing - ElbowJRotate - WRJ2 - WRJ1 gains: ShoulderJRotate: {p: 140.0, d: 30.0} ShoulderJSwing: {p: 140.0, d: 30.0} ElbowJSwing: {p: 140.0, d: 30.0} ElbowJRotate: {p: 140.0, d: 30.0} WRJ2: {p: 140.0, d: 30.0}

WRJ1: {p: 140.0, d: 30.0}

Note that I have the robot_mechanism_controllers package installed. I am running ubuntu 14.04.2, ros indigo.