Martin Günther's profile - activity

Since Diamondback, it is possible to configure a planner with a kinematics plugin (see e.g. this tutorial). This allows to send cartesian pose goals to the planner. An alternative way to send cartesian pose goals is to provide a GetPositionIK service to move_arm.

My question is: What is the difference between these two approaches (service/plugin)? Are they completely interchangeable (in other words, do I need to provide only one of them)? Any advantages/disadvantages?

EDIT: I still don't quite get how all the parts (move_arm, ompl, kinematics plugin inside ompl, kinematics service) play together. For example, the kinematics plugin is configured in pr2_arm_navigation_planning/ompl_planning.yaml. At the same time, pr2_3dnav/right_arm_navigation.launch includes pr2_arm_navigation_kinematics/launch/right_arm_collision_free_ik.launch, which starts a (collision-free) IK service. So in which cases will the plugin be used, and in which cases the service?

Please use English on this forum. For general discussion, there is also a Japanese user group here, where you can discus

You're right that in virtually all cases, the camera extrinsics/intrinsics don't change. There only exception that I've

For the Robotiq 2F gripper, I've actually found a better solution that gets rid of almost all mimic joints: https://gith

I've solved this issue with @theblackpearl over email; here's a summary of the solution: The mystery scanner in questi

How do I install a particular version of frank-ros Hello, I'm using Ubuntu 18.04 for implementing robot(franka emika pa

TL;DR: I strongly suspect that what's happening is that you create a publisher and immediately publish a message on it b

TL;DR: I strongly suspect that what's happening is that you create a publisher and immediately publish a message on it b

TL;DR: I strongly suspect that what's happening is that you create a publisher and immediately publish a message on it b

Have a look at this page, which is also linked in the sensor_msgs/CameraInfo comments: https://wiki.ros.org/image_pipeli

Have a look at this page, which is also linked in the sensor_msgs/CameraInfo comments: https://wiki.ros.org/image_pipeli

There are several bugs in your package. Mainly, you aren't launching any joint_state_publisher or joint_state_publisher_

Yes, using HW support actually seems like the best way to do it. Many cameras have the option of outputting a mjpeg stre

Just to be clear: You are recording the image_raw/compressed topic, and the compression type is set to JPEG, correct? I

Just to be clear: You are recording the image_raw/compressed topic, and the compression type is set to JPEG, correct? I

Just to be clear: You are recording the image_raw/compressed topic, and the compression type is set to JPEG, correct? I

See my edit for my response!

Just to be clear: You are recording the image_raw/compressed topic, and the compression type is set to JPEG, correct? I

Just to be clear: You are recording the image_raw/compressed topic, and the compression type is set to JPEG, correct? I

rgbd_odometry(in rtabmap_ros) does not work I am trying to use rtabmap using rgbd_image with two realsenseD435i. In orde

Yep, I liked your answer too!

It means that you should make sure that the TransformListener is not deleted and re-created all the time. When you creat

It means that you should make sure that the TransformListener is not deleted and re-created all the time. When you creat

It means that you should make sure that the TransformListener is not deleted and re-created all the time. When you creat