Vlad222's profile - activity

Hello all,

I am programming cell with 2DOF workpiece positioner and 6DOF robot in MoveIt! How many move_groups is better to do for synchro motions? One general move_group with 8 joints? Or may be two move_groups: 2DOF and 6DOF? Or may be move_group with two subgroups? Something like that:

Hello all,

Question is about MoveIt! and OMPL. I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan motion with RRT-Connect and have large translations of slider. For example slider usually moves 1 meter forward and 1 meter back to move around obstacles. I want to reduce this motion and avoid obstacles primary with KUKA. Of course there will be motion of slider but not so large. Can I set weight of this DOF for minimization translational motion? How can I do it in KDL or TRAC-IK or in planner?

This question in googlegroups: https://mail.google.com/mail/u/0/#inb...

computeCartesianPath fails Hi all, I use function computeCartesianPath and it fails because of collisions. I check poi

Collisions after computeCartesianPath Hi all, I use function computeCartesianPath and it fails because of collisions.

Collisions after computeCartesianPath Hi all, I use function computeCartesianPath and it fails because of collisions.

Reducing motion of linear track Hello all, Question is about MoveIt! and OMPL. I have 7DOF move_group with 6DOF KUKA an

move_group with 2DOF workpiece positioner and 6DOF robot Hello all, I am programming cell with 2DOF workpiece positione

Reducing motion of linear track Hello all, Question is about MoveIt! and OMPL. I have 7DOF move_group with 6DOF KUKA an

Reducing motion of linear track Hello all, I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan

Reducing motion of linear track Hello all, I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan

Reducing motion of linear track Hello all, I have 7DOF move_group with 6DOF KUKA and 1DOF slider (linear axis). I plan

checkCollision in MoveIt doesn't show collision between robot and scene Hi everyone I have problem - function checkColl

rbbg, Thank you for your answer! I edited my question

checkCollision in MoveIt doesn't show collision between robot and scene Hi everyone I have problem - function checkColl

checkCollision doesn't show collision between robot and scene Hi everyone I use this code for adding collisionObject m

checkCollision doesn't show collision between robot and scene Hi everyone I use this code for adding collisionObject m

Hello all!

I want to use CUDA for computing IKP and planning trajectory of 7DOF robotic arm.

Did anyone encounter integration of CUDA or OpenCL with MoveIt (OMPL)?

Did anybody compute KDL on GPU - for example used CUDA for FCL (collision checking)?

Thanks for attention!

Hi everybody!

I have 7DOF arm made by myself. I want to move it by hand for teaching point (kinetiq teaching). Can I do it with ROS? What packages should I use? Something like that: https://www.youtube.com/watch?v=jzR5N...

Hi all!

I am planning motion of KUKA with OMPL (without MoveIt).

It works great but sometimes it writes to me:

Warning: Solution path may slightly touch on an invalid region of the state space at line 386 in /tmp/buildd/ros-indigo-ompl-1.0.0003094-0trusty-20141029-0351/src/ompl/geometric/src/PathSimplifier.cpp

I check a flag ss.haveExactSolutionPath() but it is true and my robot crashes.

Can I check a validity of path with some flag in OMPL?

My code:

bool plan_ompl(cut_data & work,rob_ang start_ang,rob_ang finish_ang,vector <rob_ang> & res,double & length)
{
ob::StateSpacePtr space(new ob::RealVectorStateSpace(6));
ob::RealVectorBounds bounds(6);

bounds.setHigh(0,work.kuka.a1_max);
bounds.setHigh(1,work.kuka.a2_max);
bounds.setHigh(2,work.kuka.a3_max);
bounds.setHigh(3,work.kuka.a4_max);
bounds.setHigh(4,work.kuka.a5_max);
bounds.setHigh(5,work.kuka.a6_max);

bounds.setLow(0,work.kuka.a1_min);
bounds.setLow(1,work.kuka.a2_min);
bounds.setLow(2,work.kuka.a3_min);
bounds.setLow(3,work.kuka.a4_min);
bounds.setLow(4,work.kuka.a5_min);
bounds.setLow(5,work.kuka.a6_min);

space->as<ob::RealVectorStateSpace>()->setBounds(bounds);
space->setLongestValidSegmentFraction(0.001);
space->setup();

og::SimpleSetup ss(space);
ss.setStateValidityChecker(boost::bind(&isStateValid, _1,boost::ref(work)));

ob::ScopedState<> start(space);
start[0] = start_ang.a1;
start[1] = start_ang.a2;
start[2] = start_ang.a3;
start[3] = start_ang.a4;
start[4] = start_ang.a5;
start[5] = start_ang.a6;

ob::ScopedState<> goal(space);
goal[0] = finish_ang.a1;
goal[1] = finish_ang.a2;
goal[2] = finish_ang.a3;
goal[3] = finish_ang.a4;
goal[4] = finish_ang.a5;
goal[5] = finish_ang.a6;

ss.setStartAndGoalStates(start, goal);
og::RRTConnect *rrt_con = new og::RRTConnect(ss.getSpaceInformation());
rrt_con->setRange(range_ompl);
ob::PlannerPtr planner(rrt_con);

ss.setPlanner(planner);
ss.setOptimizationObjective(getPathLengthObjective(ss.getSpaceInformation()));
ss.setup();

ob::PlannerStatus solved = ss.solve(20);

if (ss.haveExactSolutionPath())
{
    ss.simplifySolution();

    og::PathGeometric path( dynamic_cast< const og::PathGeometric& >( ss.getSolutionPath() ) );
    const std::vector< ob::State* > &states = path.getStates();
    ob::State *state;
    cout << "Length " << path.length() << endl;
    length = path.length();

    for( size_t i=0; i<states.size(); i++)
    {
        state = states[i]->as< ob::State >( );

        rob_ang temp_rob_ang;
        temp_rob_ang.a1 = state->as<ob::RealVectorStateSpace::StateType>()->values[0];
        temp_rob_ang.a2 = state->as<ob::RealVectorStateSpace::StateType>()->values[1];
        temp_rob_ang.a3 = state->as<ob::RealVectorStateSpace::StateType>()->values[2];
        temp_rob_ang.a4 = state->as<ob::RealVectorStateSpace::StateType>()->values[3];
        temp_rob_ang.a5 = state->as<ob::RealVectorStateSpace::StateType>()->values[4];
        temp_rob_ang.a6 = state->as<ob::RealVectorStateSpace::StateType>()->values[5];
        res.push_back(temp_rob_ang);
    }
    return true;
}
else
{
    cout << "No solution found" << endl;
    return false;
}

}