p_mukherjee's profile - activity

I managed to create a workaround for this problem. While running moveit demo.launch file, I found in rqt graph that, /move_group goal can both publish to and subscribe from the move group node. I created a publisher which publishes to /move_group/goal and a subscriber which subscribed to /move_group/display_planned_path. After that I used these waypoints to move the hector quadrotor using the hector quadrotor's controller.

P.N - the joint space won't be updated, so you won't be able to see the quadrotor move in rviz, but it works fine in gazebo

I don't have a list but some packages are:

1. OpenCv - for vision
2. gmapping and openslam_gmapping - evident from the names
3. PCL with ROS

Hi everyone,

I am using the hector quadrotor package and I have used moveit to plan path for it. I have configured the robot using moveit_setup assistant. I am visualizing it in rviz using the generated demo.launch file. However in rviz I can only see the planned path and the actual robot does not move. After I looked into several sources I found that the /joint_states topic is not updated as the results are updated via a fake trajectory controller. Can someone provide me a solution on how to update the joint_states topic?

P.N. - the quadrotor does not have any end_effector, thus I cannot set target pose.

Hi everyone,

             I am trying to use moveit package for planning path of my quadrotor. I have been able to publish goal points for the quadrotor to move, however, as moveit takes initial position from joint space, the start position is always fixed to [0,0,0,0,0,0,1]. I want to know if its possible to change the start position.

P.N. - Since this a quadrotor, there's no end effector and hence I cannot use this snippet to change the start position.

robot_state::RobotState start_state(*group.getCurrentState()); geometry_msgs::Pose start_pose2; start_pose2.orientation.w = 1.0; start_pose2.position.x = 0.55; start_pose2.position.y = -0.05; start_pose2.position.z = 0.8; const robot_state::JointModelGroup *joint_model_group = start_state.getJointModelGroup(group.getName()); start_state.setFromIK(joint_model_group, start_pose2); group.setStartState(start_state);

Thanks in advance Poulastya

Thank You!! Yes I missed the configurations in CMakeList and package.xml

Hello everyone,

I am using move_it package as a motion planner for quadrotor package. I am trying to set setPoseTarget using the C++ move group interface. Below is the code that I wrote ( by referring to the move it tutorial on their website).

void Quad::moveit_waypoints(double s_x,double s_y,double s_z,double g_x,double g_y,double g_z){

    moveit::planning_interface::MoveGroup group("virtt");
    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
    //ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
    //moveit_msgs::DisplayTrajectory display_trajectory;
    ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());
    //ROS_INFO("Reference frame: %s", base.getEndEffectorLink().c_str());
    geometry_msgs::Pose target_pose1;
    target_pose1.orientation.w = 1.0;
    target_pose1.position.x = 0.28;
    target_pose1.position.y = -0.7;
    target_pose1.position.z = 1.0;
    group.setPoseTarget(target_pose1);
    group.setRandomTarget();

    moveit::planning_interface::MoveGroup::Plan my_plan;
    bool success = group.plan(my_plan);
    ROS_INFO("Visualizing plan 1 (pose goal) %s",success?"":"FAILED");
    // Sleep to give Rviz time to visualize the plan.
    sleep(5.0);
}

However when I compile I get the following error:

In function `Quad::moveit_waypoints(double, double, double, double, double, double)':
quadrotor.cpp:(.text+0x3147): undefined reference to `moveit::planning_interface::MoveGroup::MoveGroup(std::string const&, boost::shared_ptr<tf::Transformer> const&, ros::Duration const&)'

quadrotor.cpp:(.text+0x3192): undefined reference to `moveit::planning_interface::PlanningSceneInterface::PlanningSceneInterface()'

quadrotor.cpp:(.text+0x3271): undefined reference to `moveit::planning_interface::MoveGroup::getPlanningFrame() const'

quadrotor.cpp:(.text+0x3315): undefined reference to `moveit::planning_interface::MoveGroup::setRandomTarget()'

quadrotor.cpp:(.text+0x333d): undefined reference to `moveit::planning_interface::MoveGroup::plan(moveit::planning_interface::MoveGroup::Plan&)'

quadrotor.cpp:(.text+0x349f): undefined reference to `moveit::planning_interface::PlanningSceneInterface::~PlanningSceneInterface()'

quadrotor.cpp:(.text+0x34ae): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'

quadrotor.cpp:(.text+0x34d9): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'

quadrotor.cpp:(.text+0x3510): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'

quadrotor.cpp:(.text+0x35a5): undefined reference to `moveit::planning_interface::PlanningSceneInterface::~PlanningSceneInterface()'

quadrotor.cpp:(.text+0x35b9): undefined reference to `moveit::planning_interface::MoveGroup::~MoveGroup()'
collect2: error: ld returned 1 exit status

Could anyone shed some light on this? Thanks in advance.

to open .bashrc just type - gedit ~/.bashrc then add this line source ~/custom_bash/.bash_rosws