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2012-07-19 04:43:50 -0500 asked a question Interrupting a joint trajectory

I am using the move_arm package in the arm_navigation stack to control a joint trajectory, and I'd like to be able to interrupt (completely cancel) the trajectory while it's in progress.

Should I be able to do this by cancelling the MoveArmAction containing the arm pose goal? I've tried that, and while the MoveArmAction gets cancelled the trajectory itself does not (I don't get a preempt request on the joint controller action server).

I tried looking at the source for the move_arm node, and in move_arm_simple_action.cpp I found a private method called 'stopTrajectory()' that is never called anywhere in the MoveArm class. Is this a bug, or am I just not supposed to be able to cancel a joint trajectory with a MoveArmAction cancel request?

2012-05-02 11:24:29 -0500 asked a question Planning description configuration wizard problems

I have been unable to use the autogenerated arm navigation application to successfully control the PR2 in gazebo. I've been following the tutorial for the wizard (http://www.ros.org/wiki/arm_navigation/Tutorials/tools/Planning%20Description%20Configuration%20Wizard), using torso_lift_link and r_wrist_roll_link as my base and tip links for the right arm planning group. But, when I try and send a pose goal to the move_arm node, the goal aborts and I get the error message "Incorrect number of elements in IK output."

From what I can tell, that means that the IK solver is finding a solution that doesn't have the same number of joints as the ones in the control group. But I don't know why it would do that, or how many joints are in the solution it's coming up with.

The same error occurs when I run the wizard on another robot defined in its own urdf. Is there some additional configuration I need to do in order for the navigation application to understand how many joints are in the group? Can I at least find out how many joints the IK solution has? Thanks, Teddy