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2014-01-28 17:21:47 -0500 marked best answer Behavior of JointTrajectoryActionController with a single goal

If I send the JointTrajectoryActionController a single goal using the SimpleActionClient with a velocity and acceleration of 0 each, will the commanded motor torques simply be like a PID controller with a fixed set point?

Will the r_arm_controller (which I am assuming is a JointTrajectoryActionController) start behaving like a JointPositionController in this case?

Thanks.

2014-01-28 17:21:43 -0500 marked best answer Planning with OMPL using a subset of joints

I would like to be able to treat the PR2 as a planar three link manipulator and test out some built in planners (openrave or OMPL).

Is there a way to restrict openrave and/or OMPL to use only the shoulder pan, elbow flex, and wrist flex joint of the PR2?

2014-01-28 17:21:42 -0500 marked best answer How to contributing python versions of tutorials? e.g. Tutorials for arm_navigation

I sometimes find myself converting the C++ versions of the tutorials into python.

e.g. http://code.google.com/p/gt-ros-pkg/s...

What, if any, would be a good way to add links to python sample code to the tutorials?

2013-10-21 15:13:51 -0500 answered a question [turtlemimic.launch] is neither a launch file in package [test_launch] nor is [test_launch] a launch file name?

Is there a space between the package name in your package.xml? I was having the same error in a different package and removing spaces inside <name></name> solved the problem for me.

Please see this issue for a possible cause of your problem.

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2013-02-07 10:11:18 -0500 commented question rospy publisher hanging when subscriber drops connection because of wifi - is this normal?
2013-02-07 10:11:13 -0500 commented question rospy publisher hanging when subscriber drops connection because of wifi - is this normal?

I have opened a ticket for this: https://github.com/ros/ros_comm/issues/169

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2013-01-06 12:09:50 -0500 commented answer avoiding having to call catkin_make for changes to python modules?

Thanks Tully and Thibault.

additional details: after adding a setup.py and adding catkin_python_setup() to CMakeLists, once we run catkin_make, it creates an __init__.py in <catkin_workspace>/devel/lib/python2.7/dist-package/<your_package>

This __init__.py redirects back to the source space.

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2013-01-04 15:49:36 -0500 asked a question avoiding having to call catkin_make for changes to python modules?

While coding in Python (and using rosbuild) I find it very convenient to not to have to 'make' before testing my code:

e.g. I change a module (which lives in its own ROS package) that my Python script uses and without any 'make' I kill the script, run it again and have it use the updated module.

With catkin, am I correct in understanding that I will need to do a catkin_make each time so that the updated module gets copied into the devel space and is thus available to my script?

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2012-10-09 11:39:32 -0500 commented answer openni_launch not working in fuerte + ubuntu precise 12.04

Removing these two kernel modules worked for me. Thanks sleonard!

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2011-06-04 11:51:56 -0500 marked best answer laser_driver stack missing in pr2-desktop install

See REP 108 for which stacks are included in which variants. Note that, as specified there, laser_drivers is not included in pr2-desktop or any of the variants that it extends.

2011-06-03 04:20:53 -0500 asked a question laser_driver stack missing in pr2-desktop install

It looks like the laser_drivers stack is missing from the pr2-desktop dimaondback install. Is this intentional?

Here is what I did -

$ sudo apt-get install ros-diamondback-pr2-desktop

When I tried to roscd to hokuyo_node, I got an error.

$ roscd hokuyo_node
roscd: No such package 'hokuyo_node'

Installing the laser_drivers stack fixed the problem:

$ sudo apt-get install ros-diamondback-laser-drivers

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2011-03-15 08:23:26 -0500 marked best answer Behavior of JointTrajectoryActionController with a single goal

The desired position trajectory will be a fifth-order polynomial, with start and end boundary conditions of 0 velocities and accelerations. Also called a "minimum jerk" movement in some communities.

If you omit accelerations, you'll get a cubic spline. If you also omit velocities, you get linear interpolation. This is some documentation I found about this: http://www.ros.org/wiki/robot_mechanism_controllers/JointSplineTrajectoryController

2011-03-15 08:23:25 -0500 commented answer Behavior of JointTrajectoryActionController with a single goal
thanks a lot Mrinal, this was really useful!