TkrA's profile - activity

Hello!

Could somebody please provide me a correct yaml file for ros joint state publisher's zeros parameter?

In the description of joint_state_publisher it is written:

zeros (Dict mapping Strings to Floats, default: {})

Dictionary to specify some joints' 'zero position' (since hydro)

I thought of something like this, but it's not working:

zeros:
joint1: {0.5}
joint2: {0.6}

Here you have the joint state publisher's code

Some basic programming question:

My node is subscribed to the /joint_states topic, more exactly /joint_states/position[5]. I am trying to publish a message, each time the joint6's state has changed. The /joint_states topic has a high rate 0.1 sec/ published messages, so right now i publish the same value, 10x a sec. I would like to call the callback function only on input change.

Does python have some special function for that?

Any ideas?

btw: i would have a much easier task if i could publish fake_gripperarm_controller using demo.launch from my MoveIt! package

It was saved in your current directory, don't you remember what was your current directory, when you saved the bag file? In a package where you were working or something..

After editind the calvin_pick_n_place sample code taken from here: calvin_pick_n_place I edited it to fit to my robot, i get the following error message:

[ WARN] [1434379985.286830973]: All supplied grasps failed. Retrying last grasp in verbose mode.

Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1434379985.301709750]: IK failed
[ INFO] [1434379985.315278096]: IK failed
[ INFO] [1434379985.329729096]: IK failed
[ INFO] [1434379985.329869337]: Sampler failed to produce a state
[ INFO] [1434379985.330069502]: Manipulation plan 23 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1434379985.330713788]: Pickup planning completed after 1.288632 seconds

Please help me, what could be done here?

rospack find moveit_ros_planning_interface retuned:

/home/***/moveit/src/moveit_ros/planning_interface

Hi!

I am currently working on a pick and place application, using move_group interface. After bringing the gripper around the collision object, i attach it to the end effector:

group.attachObject(collision_object.id);

Then picking it another place, i detach it:

group.detachObject(collision_object.id);

When i detach it, the box stays with one edge on the groud, one in the air. How could i fix this? Please help me, Thanks

I am trying to run the pick.py code provided by moveit_commander package, which is currently istalled on my ROS, under catkin_ws/src. (distro- indigo) Running the original code, it gives the following error:

  File "/home/***/catkin_ws/src/moveit_commander/demos/pick.py", line 39, in <module>
    from moveit_commander import RobotCommander, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
  File "/home/***/catkin_ws/devel/lib/python2.7/dist-packages/moveit_commander/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 4, in <module>
  File "/home/***/catkin_ws/src/moveit_commander/src/moveit_commander/move_group.py", line 40, in <module>
    from moveit_ros_planning_interface import _moveit_move_group_interface
ImportError: /home/***/moveit/devel/lib/python2.7/dist-packages/moveit_ros_planning_interface/_moveit_move_group_interface.so: undefined symbol: _ZNK6moveit18planning_interface9MoveGroup13getRobotModelEv

Here is the package i installed, and the py code:

moveit_commander

pick.py

But now it gives the following error message:

[FATAL] [1434187128.984235619]: Parameter '~moveit_controller_manager' not specified. This is  needed to identify the plugin to use for interacting with controllers. No paths can be executed.

I just edited the move_group.launch file:

  <include file="$(find torobot_moveit_final)/launch/planning_context.launch">
  <arg name="load_robot_description" value="true" />
  </include>

i just edited the post, i have the include in the beginning of the launch file. It is strange, because i didn't edited the file, it was generated by MoveIt! still, isn't working.

When i try to run, the original move_group.launch file, generated by MoveIt!, i get the following error:

auto-starting new master
process[master]: started with pid [25531]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to aea97446-1118-11e5-a1c4-14feb5ae1f20
process[rosout-1]: started with pid [25544]
started core service [/rosout]
process[move_group-2]: started with pid [25561]
[ERROR] [1434123343.429734522]: Robot model not loaded
terminate called after throwing an instance of 'ros::InvalidNameException'
what():  Character [_] is not valid as the first character in Graph Resource Name                    [_planning/shape_transform_cache_lookup_wait_time].  
Valid characters are a-z, A-Z, / and in some cases ~.
[move_group-2] process has died [pid 25561, exit code -6, cmd /home/***/moveit/devel/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/***/.ros/log/aea97446-1118-11e5-  a1c4-14feb5ae1f20/move_group-2.log].
log file: /home/***/.ros/log/aea97446-1118-11e5-a1c4-14feb5ae1f20/move_group-2*.log

Google has no idea, I have no idea what could be the problem:)

<include file="$(find torobot_moveit_final)/launch/planning_context.launch" /> Is included in the beginning of the launch file, which loads the robot model.