Florian_W's profile - activity

using EIGEN3 in the DEPENDS resolved the porblem!

Since migrating from Indigo to Kinetic, i am receiving the following CMake warning:

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'eigen' but neither 'eigen_INCLUDE_DIRS' nor 'eigen_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) src_ros/iiwa_dynamics/CMakeLists.txt:110 (catkin_package)

Unfortunately I am unable to resolve this issue.

cmake_minimum_required(VERSION 2.8.3)
project(iiwa_dynamics)


find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  std_msgs
  ros_utilities
  tf_conversions
  iiwa_ik
)
find_package(cmake_modules REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)
find_package(Eigen3 REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES iiwa_dynamics
  CATKIN_DEPENDS
    roscpp
    std_msgs    
    geometry_msgs
    ros_utilities
    tf_conversions
    iiwa_ik
  DEPENDS
    eigen
)

include_directories(include)
include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
include_directories(${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})

add_library(${PROJECT_NAME}
   src/iiwa_id.cpp
   src/iiwa_dynamics_core.cpp
 )

add_executable(iiwa_dynamics_debug src/iiwa_dynamics_debug.cpp)
 target_link_libraries(iiwa_dynamics_debug
   ${PROJECT_NAME}
 )


target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
)
 add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

The corresponding package.xml:

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>ros_utilities</build_depend>
  <build_depend>tf_conversions</build_depend>
  <build_depend>iiwa_ik</build_depend>
  <build_depend>eigen</build_depend>


  <run_depend>geometry_msgs</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>ros_utilities</run_depend>
  <run_depend>tf_conversions</run_depend>
  <run_depend>iiwa_ik</run_depend>
  <run_depend>eigen</run_depend>

Any suggestion on what is going wrong?

@gvdhoorn I only require the end-effector to be "in front" of the robot. Without limiting the joints the Ik solution derived by TRAC-IK is some weirdly looking "behind the shoulder" grasp. The planning procedure may actually utilize the full joint space. Are you aware of a more elegant solution ?

I found that by using the

 moveit_msgs::GetPositionIK

service, it is possible to specify individual moveit_msgs::JointConstraint . First tests yield promising results.

I am calculating the IK for my robot setup using:

 robot_state::RobotState kinematicStateArm =  *m_arm.getCurrentState();
 foundIkForArm = kinematicStateArm.setFromIK(jointModelGroupArm, targetPose, 10, 0.05);
 kinematicStateArm.copyJointGroupPositions(jointModelGroupArm, jointValuesArm);

Now on certain occasions, I do have to restrict the joint limits in one of the joints further than required for the default case.

Is there any method that allows one to change the joint limits used within the RobotState IK framework? I have seen that the

 moveit::core::JointModel   setVariableBounds()

Reference

allows one to modify the joint limits. However I do see no way of accessing this method from the RobotState API. Does anyone know of a method or way on how to approach my issue?

The download link you provide requires installing a browser extension. Moreover my download canceled as I exeeded my daily "free download quota". Thank you for your efforts but I consider this type of download platform a major nono!

I am currently trying to install ROS Kinetic on my Linux Mint 18 running laptop. As far as I am aware of, Sarah 18 is based on Linux kernel 4.4 and an Ubuntu 16.04 package base. Following the wiki installation manual, I am running into the following errors (when calling apt-get update):

Err:11 http://packages.ros.org/ros/ubuntu kinetic/main amd64 Packages
  404  Not Found [IP: 64.50.236.52 80]
Ign:12 http://packages.ros.org/ros/ubuntu kinetic/main i386 Packages
Ign:13 http://packages.ros.org/ros/ubuntu kinetic/main all Packages
Ign:14 http://packages.ros.org/ros/ubuntu kinetic/main Translation-en_US
Ign:15 http://packages.ros.org/ros/ubuntu kinetic/main Translation-en
Fetched 190 kB in 5s (33,2 kB/s)
Reading package lists... Done
W: The repository 'http://packages.ros.org/ros/ubuntu kinetic Release' does not have a Release file.
N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
N: See apt-secure(8) manpage for repository creation and user configuration details.
E: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/kinetic/main/binary-amd64/Packages  404  Not Found [IP: 64.50.236.52 80]
E: Some index files failed to download. They have been ignored, or old ones used instead.

Is this problem related to the fact that I am not using Ubuntu? Are there any methods of installing ROS on Linux Mint Sarah 18?

I found out that the initial values need to be set for the joint_state_publishers, as described in the documentation.

I am currently trying to plan and visualize a robot using MoveIt! and Rviz. Having finished the robot URDF, I started the MoveIt! setup assistant and created the MoveIt! configuration package. From what I know, a fake joint controller publishes the robot's joint states which are then visualized in Rviz. Is there any way to set the initial joint configuration of the robot, such that the robot is not placed at the center of origin ?