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I am trying out using moveit with a robot arm mounted on an xyz gantry. But I'm new to moveit and am unsure how best to build the model. The robot is an off the shelf UR-10 which I have a model for, the gantry is custom made and uses clearpath servos which already have ROS support. The UR-10 has an existing model and ROS driver which I have working.

Can Moveit plan a path for a robot arm on a gantry, or is that too many links?

Should I modify the URDF for the robot to include the gantry, or is there a way/reason to make them two separate things.

Will a system this complex be able to avoid self colliding in moveit?

Also I don't know how to incorporate the gantry servos even once I build a model in moveit. Any hints on where to start with that would be great. Basically I'm looking for direction here. I know no one is going to provide me the whole solution but letting me know if this can be done and what tools to use, or any other pointers, would really help.

thanks!

Thanks for the help. I don't know how to do all of this but at least I know what to look for. I'm a controls engineer so

Using Moveit with a robot arm on a gantry I am trying out using moveit with a robot arm mounted on an xyz gantry. But I'

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

Azure Kinect ROS driver "Failed to open K4A device at index 0" I've gotten the kinect azure driver to build. I'm a bit n

I found out paulbovbel had created a branch of the code just for the 35 model.

https://github.com/clearpathrobotics/...

After installing that these were the steps to get it to run:

1. If you haven started roscore start it by typing roscore in a terminal
2. in another terminal (may be specific to my case) go into the devel folder of the workspace where you installed the package and source the setup.bash file there. Command: . setup.bash
3. Make sure your sensor is plugged in and the LED is lit, then check the permissions by typing ls -l /dev/ttyACM0 your device may not be ttyACM0, in which case type as far as the tty then tab twice to see the list. If there are no USB or ACM devices it may be missing. You can plug and unplug to see if any change to determine if your port is showing up and what it is.
4. If your permissions read "crw-rw----" you need to add RW by typing sudo chmod a+rw /dev/ttyACM0 it should now read "crw-rw-rw-" if you check again
5. start the driver by typing rosrun microstrain_3dm_gx3_35 imu_driver
6. If that works, to see the data in another terminal type: rostopic echo /imu3dmgx3/imu/data

Hope this helps if anyone is stuck as I was.

I would like to know how to do this as well. I have the exact same issue. I'm trying to get IMU data into ROS using the 3DM-GX3-35. The existing GX2 and GX3-45 drivers haven't worked, but I haven't tried AHRS mode.

I am attempting to use the microstrain_3dm_gx3_45 driver. I have a microstrain 3DM-GX3-35, connected via USB. It shows up as port ttyACM0. I'm running ROS indigo on Ubuntu 14.04 LTS. I have made sure to include the ROS master URI in the setup file.

So far I've made some progress by figuring out that I had to set the permissions with this command:

sudo chmod a+rw /dev/ttyACM0

This solved the failure due to permission being denied. When attempting to run it I go through these steps:

• Start roscore

• Open a terminal and go to rosbuild_ws and source setup.bash (imu_driver doesn't show up in the next step if I don't, I normally use the source.bash for catkin)

• type: rosrun microstrain_3dm_gx3_45 imu_driver

At this point I get this output

[ INFO] [1447290658.417420942]: Initializing.
[ INFO] [1447290658.417651570]: Pinging device
[ INFO] [1447290658.417942970]: Setting to idle
[ INFO] [1447290658.419018936]: Checking status

It doesn't move on from there, I'm not sure if it's supposed to do more. So, leaving that terminal open, I try to echo the topic by doing the following:

• Open another terminal
• command: rostopic list
• Several topics show up

/imu3dmgx3/gps/fix
/imu3dmgx3/gps/odom
/imu3dmgx3/imu/data
/imu3dmgx3/imu/pose
/imu3dmgx3/nav/fix
/imu3dmgx3/nav/odom
/imu3dmgx3/nav/pose

• try to display one by typing: rostopic echo /imu3dmgx3/imu/data
• the command doesn't fail, but nothing displays, and the imu_driver window doesn't show anything beyond Checking Status either, it also won't exit if I press ctrl+c or anything else.

I can also roslaunch this: ~/rosbuild_ws/microstrain_3dm_gx3_45/launch/roslaunch imu.launch

that gives me this output

> core service [/rosout] found
> process[imu_3dm_node-1]: started with
> pid [5324] [ INFO]
> [1447293625.027313438]: Initializing.
> [ INFO] [1447293625.027628687]:
> Pinging device

which also doesn't fail, but seems to stop at that point. But it will (with a delay) end the process without closing the terminal. imu_test.launch gives me a similar output.

So that's where I'm stuck for now. The errors I know of are solved but I don't seem to be getting any output. I've taken a screenshot of the spot where it stops in case it adds any clairity.

Thank you for any help or suggestions!

Good catch! I did a grep on my history and it looks like in an unrelated process practising making a python package I did this:

catkin_create_pkg python_test rospy visuaization_msgs

But when I built with "catkin_make using_markers" why did a project in a parallel folder effect it?

Thanks!

I'm very new to ROS, and fairly new to Linux, so keep in mind I'm pretty confused. I know this isn't enough detail to solve the problem, but if someone could tell me where to start to find out what's wrong it would be a great help.

I'm running ROS Indigo on Ubuntu 14.04

I'm trying to follow this tutorial http://wiki.ros.org/rviz/Tutorials/Ma...

As the tutorial says I've

1. gone to my catkin_ws/src folder and created a package using the command: catkin_create_pkg using_markers roscpp visualization_msgs
2. created the code file in src of that package, as shown
3. modified CMakeLists.txt as shown
4. (Here's where I had to vary from the instructions) the tutorial says

$ cd %TOP_DIR_YOUR_CATKIN_WORKSPACE%

$ catkin_make

If I go to the folder using_markers and do this it says it "must be invoked in the root of workspace" if I do it in the catkin_ws folder above that, it builds all my projects (which seems ok, but not ideal) if I build using "catkin_make using_markers" it builds and just does that package, so it seems ok, or maybe not, since it isn't working

I could swear it was working before. But now when I try to build it I get this warning

"CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package): Could not find a package configuration file provided by "visuaization_msgs" with any of the following names: visuaization_msgsConfig.cmake visuaization_msgs-config.cmake "

It suggests " Add the installation prefix of "visuaization_msgs" to CMAKE_PREFIX_PATH or set "visuaization_msgs_DIR" to a directory containing one of the above files. If "visuaization_msgs" provides a separate development package or SDK, be sure it has been installed. " I've tried and failed to do most of these things, but I don't really know what they mean. I looked at catkinConfig.cmake, but it makes no mention of visualization_msgs. I've searched help but I'm stuck at the moment. Why can't it find visualization_msgs now?

I reinstalled common_msgs with the command "sudo apt-get install ros-indigo-common-msgs", but it said nothing what updated or installed because it was already there. This is the stack that includes visualization_msgs, so it seems like that would mean it's available.

I thought maybe it was that I hadn't sourced it so I ran the command "/opt/ros/indigo/setup.bash" but that didn't seem to help

I figured maybe my installation was messed up so I tried a forced reinstall "sudo apt-get --reinstall install ros-indigo-desktop" That didn't help either.

Maybe it's something simpler? The build command I'm using is "cd catkin_ws" "catkin_make using_markers"

Sorry for the vague question. I'm very confused. Like I said, a suggestion of what to try next would be great.

Thank you!

Re:edit- I see what you mean. I am just learning ROS so now that I understand how it uses publishers and subscribers I can see that once I start applanix_bridge and publish_tf the topics are there to use. I was expecting some sort of app to display the data before I understood how it works. Thanks!

I'm very new to ROS. I'm trying to use an Applanix IMU, I found the driver package for ROS described here:

http://wiki.ros.org/applanix_driver

The team I've joined is using Indigo, but this driver only goes up to Fuerte. Is it practical to try to use this driver for Indigo? I'm not sure where to start. Would I need recompiled source, or is it something simpler than that?

Thanks!

Edit: I've now cloned a copy of the Hydro version and built it. Now I'm stuck on the step that says: " roslaunch applanix_launch example.launch " The only launch file I got was applanix_bridge.launch, and that seems to be a sort of adapter between applanix messages and ros. Is there something I need to add to the catkin_make command, or something else to import to get the example?