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2018-11-23 04:18:07 -0500	received badge	● Student (source)
2016-11-30 00:41:43 -0500	received badge	● Famous Question (source)
2016-08-31 09:22:32 -0500	received badge	● Notable Question (source)
2016-08-25 04:53:51 -0500	received badge	● Supporter (source)
2016-08-23 04:29:23 -0500	answered a question	UR5 velocity control and trajectory recording/replaying By publishing a set of waypoints on /followjointtrajectory/goal using the joint_trajectory_aciton service with time_from_start = i*t (i in range 0, number of waypoints) and waypoint eef_step = x the speed will be equal to x/t. Though I'm not sure how accurate this technique is since I understand that there is a smooth velocity profile between each waypoint implying that the ee speeds up and slows down repeatedly between start and goal states. However, by setting the x value sufficiently small I'm able to achieve what appears to be a constant velocity. I have been unable to examine the velocity beyond what is discernible by sight.
2016-08-05 05:29:25 -0500	commented answer	UR5 velocity control and trajectory recording/replaying Hello all, Late to the party but I'm also very interested to understand how to do velocity control. Specifically I would like to be able to execute a constant linear velocity. Changing the time from start only affects average velocity. Is there a way round this that anyone knows of? Cheers
2016-07-05 16:02:16 -0500	received badge	● Popular Question (source)
2016-05-19 07:56:04 -0500	received badge	● Famous Question (source)
2016-05-04 05:38:47 -0500	asked a question	Implimenting joint limits from the joint_limits.yaml Hello all, I am trying to implement joint limits on a ur5 robot arm. Specifically joint position limits. I've updated the joint_limits.yaml to the desired values and I've confirmed that parameters have been loaded into the rosparam server correctly. However upon execution the robot happily violates the joint position parameters that I've set. Am I missing something. Do I need some extra configuration such as using the joint_limits_interface c++ API to load the limits and implement on the hardware? Is there a better way of doing this, such as specifying the joint limits in the urdf? I have tried to do this but again the robot seems to violate the positions that I've specified. Thanks in advance. Nick
2016-04-06 20:37:13 -0500	received badge	● Notable Question (source)
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2016-03-09 03:36:40 -0500	received badge	● Popular Question (source)
2016-02-26 11:11:26 -0500	asked a question	Problem with moveit_commander interface; trying to plan trajectories for ur5 simulation with Gazebo Hello, I apologise in advance, for I am very new to programming with ROS. I have been trying to connect to a simulated ur5 through gazebo and control it in python using the moveit_commander interface. After attempting to write a simple script for controlling the ur5 gazebo simulation using moveit_commander interface I'm receiving the following errors, firstly in the script terminal window and secondly in the terminal running the moveit_planning _execution node: [ WARN] [1456503108.574669066, 548.823000000]: Joint values for monitored state are requested but the full state is not known joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: /world name: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'] position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: /world joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False ============ ============ Generating plan 1 [ WARN] [1456503113.598260823, 551.508000000]: Fail: ABORTED: No motion plan found. No execution attempted. ============ Waiting while RVIZ displays plan1... ============ Visualizing plan1 ============ Waiting while plan1 is visualized (again)... terminate called after throwing an instance of 'class_loader::LibraryUnloadException' what(): Attempt to unload library that class_loader is unaware of. Aborted (core dumped) All is well! Everyone is happy! You can start planning now! [ INFO] [1456502653.160737839, 126.273000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [ INFO] [1456502653.162058984, 126.273000000]: No planner specified. Using default. [ INFO] [1456502653.162381392, 126.273000000]: RRTConnect: Starting planning with 1 states already in datastructure [ERROR] [1456502658.169349483, 130.953000000]: RRTConnect: Unable to sample any valid states for goal tree [ INFO] [1456502658.170807752, 130.957000000]: RRTConnect: Created 1 states (1 start + 0 goal) [ INFO] [1456502658.171010925, 130.957000000]: No solution found after 5.008731 seconds [ INFO] [1456502658.209078107, 130.983000000]: Unable to solve the planning problem [ INFO] [1456502658.216058459, 130.990000000]: Received new trajectory execution service request... [ WARN] [1456502658.216106023, 130.991000000]: The trajectory to execute is empty [ INFO] [1456503008.235511782, 473.390000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [ INFO] [1456503008.235972587, 473.390000000]: No planner specified. Using default. [ INFO] [1456503008.236136625, 473.390000000]: RRTConnect: Starting planning with 1 states already in datastructure [ERROR] [1456503013.247658046, 477.166000000]: RRTConnect: Unable to sample any valid states for goal tree [ INFO] [1456503013.249219738, 477.172000000]: RRTConnect: Created 1 states (1 start + 0 goal) [ INFO] [1456503013.249677542, 477.172000000]: No solution found after 5.013654 seconds [ INFO] [1456503013.253513681, 477.174000000]: Unable to solve the planning problem [ INFO] [1456503013.260155299, 477.178000000]: Received new trajectory execution service request... [ WARN] [1456503013.260188972, 477.179000000]: The trajectory to execute is empty [ INFO] [1456503108.575331207, 548.823000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline. [ INFO] [1456503108.575958594, 548.823000000]: RRTConnect: Starting planning with 1 states already in datastructure [ERROR] [1456503113.584912230, 551.502000000]: RRTConnect: Unable to sample any valid states for goal tree [ INFO] [1456503113.587574652, 551.504000000]: RRTConnect: Created 1 states (1 start + 0 goal) [ INFO] [1456503113.591495319, 551.505000000]: No solution found after 5.015622 seconds [ INFO ... (more)
2016-02-26 10:28:04 -0500	received badge	● Famous Question (source)
2016-01-19 11:53:53 -0500	answered a question	Install Indigo on ubuntu 15.04 [vivid] I've managed to get this up and running. I just had to downgrade my ubuntu. Now using 14.04. Thanks
2016-01-19 11:52:35 -0500	received badge	● Notable Question (source)
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2016-01-18 08:11:35 -0500	asked a question	Install Indigo on ubuntu 15.04 [vivid] I am trying to install ROS Indigo on Ubuntu 15.04 from source. After trying to install dependencies in the catkin workspace I'm getting the following error message: `ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: gazebo_ros: No definition of [gazebo] for OS version [vivid] gazebo_plugins: No definition of [gazebo] for OS version [vivid]` I have tried working through the answer in this previously asked question. But, unfortunately the same error message persists when trying to install dependencies.
2016-01-18 08:11:34 -0500	asked a question	Building indigo on 15.04 vivid I am trying to install indigo from source on ubuntu 15.04. The following message is returned when trying to install dependencies in the catkin workspace "ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: gazebo_ros: No definition of [gazebo] for OS version [vivid] gazebo_plugins: No definition of [gazebo] for OS version [vivid]" Anybody know of any solution to this? I've tried working through the solution in the following: http://answers.ros.org/question/196076/building-indigo-on-1410/ but unfortunately, no change. :(