Gure Ling's profile - activity

Hi! thank you for your advice but there is something wrong with my PC these days and get no chance to have a try (bad luck). When I fixed my mass I'll pick up that practise again. Thank you again.

I follow moveit_pr2 tutorial(https://github.com/ros-planning/moveit_pr2/tree/indigo-devel/pr2_moveit_tutorials/planning/src) to build a program for my own 4DOF scara robot. when using setPoseTarget() to set a pose target, the method plan() cannot compute a valid solution, but setJointValueTarget() works fine. It seems that it cannot solve the ik problem.

platform Ubuntu14.04 indigo

cpp file:

int main(int argc, char** argv) {

ros::init(argc, argv, "scara_arm_nav");

ros::NodeHandle node_handle;

    ros::AsyncSpinner spinner(1);

spinner.start();
sleep(0.0);

moveit::planning_interface::MoveGroup group("scara_arm");

ROS_INFO("Reference frame: %s", group.getPlanningFrame().c_str());
ROS_INFO("End-effector link: %s", group.getEndEffectorLink().c_str());

moveit::planning_interface::MoveGroup::Plan my_plan;
bool success = false;
/**
std::vector<double> group_variable_values;
group.getCurrentState()->copyJointGroupPositions(group.getCurrentState()->getRobotModel()->getJointModelGroup(group.getName()), group_variable_values);

group_variable_values[0] = -1.0;
group.setJointValueTarget(group_variable_values);
*   */
/**
geometry_msgs::Pose target_pose1;

target_pose1.orientation.w = 1.0;
target_pose1.position.x = -0.3;
target_pose1.position.y = 0.0;
target_pose1.position.z = 0.20;

group.setPoseTarget(target_pose1, "link4");
*/
group.setPoseReferenceFrame(group.getPlanningFrame());
geometry_msgs::PoseStamped pose = group.getCurrentPose();
ROS_INFO("x = %f, y = %f, z = %f  " , pose.pose.position.x , pose.pose.position.y, pose.pose.position.z);
pose.header.frame_id = "base_link";
pose.header.stamp = ros::Time::now();
pose.pose.position.x = -0.25;
pose.pose.position.y = 0.0;
pose.pose.position.z = 0.2;
pose.pose.orientation.w = 1.0;
group.setStartStateToCurrentState();
group.setPoseTarget(pose, group.getEndEffectorLink());
success = group.plan(my_plan);
ROS_INFO("Visualizing plan 2 (joint space goal) %s",success?"":"FAILED");
group.execute(my_plan);
sleep(5.0);


ros::shutdown();
return 0;

}

terminal output

**ling@ling:~$ roslaunch scara_robot_moveit_config demo.launch

ling@ling:~$ rosrun scara_robot nav_test8

[ INFO] [1459831987.157223847]: Loading robot model 'scara'...

[ INFO] [1459831987.636260172]: Loading robot model 'scara'...

[ INFO] [1459831988.759656863]: Ready to take MoveGroup commands for group scara_arm.

[ INFO] [1459831988.763104882]: Reference frame: /base_link

[ INFO] [1459831988.763557455]: End-effector link: link4

[ INFO] [1459831989.049124368]: x = -0.400000, y = 0.000000, z = 0.278272

[ WARN] [1459831994.951622692]: Fail: ABORTED: No motion plan found. No execution attempted.

[ INFO] [1459831994.951739830]: Visualizing plan 2 (joint space goal) FAILED

terminate called after throwing an instance of 'class_loader::LibraryUnloadException'

what(): Attempt to unload library that class_loader is unaware of.

已放弃 (核心已转储)**

new to Moveit! need you guys' help.

BTW, is there any advance methods to control velocity or acceleration beside setting a factor for the MAXs.

I'm practising rosserial-arduino. When I first boot my virtual machine running Ubuntu14.04 with Indigo installed, and run serial_node.py, It is OK.

root@ling-virtual-machine:~# rosrun rosserial_python serial_node.py /dev/ttyACM0 

[INFO] [WallTime: 1448193768.523920] ROS Serial Python Node

[INFO] [WallTime: 1448193768.534337] Connecting to /dev/ttyACM0 at 57600 baud

[INFO] [WallTime: 1448193773.248642] Note: publish buffer size is 280 bytes

[INFO] [WallTime: 1448193773.249588] Setup publisher on chatter [std_msgs/String]

Then I abort it (^c) and connect arduino to win7(host) and upload another program. When I reconnect to ubuntu and try to open serial port, this error occur.

root@ling-virtual-machine:~# rosrun rosserial_python serial_node.py /dev/ttyACM0

[INFO] [WallTime: 1448195076.373184] ROS Serial Python Node

[INFO] [WallTime: 1448195076.451019] Connecting to /dev/ttyACM0 at 57600 baud

[ERROR] [WallTime: 1448195093.843222] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

And I rebooted ubuntu and redo the same thing. results are the same. succeed on first try and fail on the second. I'm using ros_lib generated by catkin. I really wonder why.

Yes I think you are right. I've tried that wiki on Indigo and worked fine. Thank you very much.

Hi, I'm following rosserial_arduino/Tutorials/Hello World and when runing rosserial_python serial_node.py using rosrun rosserial_python serial_node.py /dev/ttyACM0 then got problems

ling@ubuntu12:~/catkin_ws$ rosrun rosserial_python serial_node.py /dev/ttyACM0
[INFO] [WallTime: 1447168684.001756] ROS Serial Python Node
[INFO] [WallTime: 1447168684.011288] Connecting to /dev/ttyACM0 at 57600 baud
Traceback (most recent call last):
  File "/home/ling/catkin_ws/src/rosserial/rosserial_python/nodes/serial_node.py", line 80, in <module>
    client = SerialClient(port_name, baud)
  File "/home/ling/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 333, in __init__
    self.pub_diagnostics = rospy.Publisher('/diagnostics', diagnostic_msgs.msg.DiagnosticArray, queue_size=10)
TypeError: __init__() got an unexpected keyword argument 'queue_size'

I tried to ignored the error and start the next step

ling@ubuntu12:~/catkin_ws$ rostopic echo chatter

It wouldn't work as I thought:

WARNING: topic [/chatter] does not appear to be published yet

I'm using groovy on ubuntu12 but my arduino IDE is installed on Win7. Does it matter?

Can someone help? Thanks advance.