Gokul's profile - activity

Move group node crashes while planning with approximate constraint manifold Platform: Ubuntu 18.04.2 (Kernel: 5.4.0-66

You can use this command catkin build --cmake-args -DPYTHON_VERSION=2.7 For further reference, you can try out dif

Always add your ROS Distro to your question to get more directed answer. Because ROS Kinetic supports only python 2.7 bu

md5 error while saving planning scene/state from RVIZ to MongodBdatabase I am using Ubuntu 16.04 with ROS kinetic. I wan

Configurable time parametrization method for default cartesian path planner in moveit Moveit offers three different time

Reconfigurable Time parametrization method for cartesian path planner in moveit. Moveit offers three different time para

Why does source installation of moveit package needs to be built with catkin build command instead of catkin_make? What is the advantage of doing so.

I have a 6 DOF arm and it has been interfaced with moveit. Now I want to move the arm from point A to point B with one of the joint having a orientation constraint throughout the path. There are already solutions in C++ but I need a solution in python. Has anyone already tried in python? Kindly help me to move ahead.

Moveit in nanopi M3 board not working. I have installed ubuntu 16.04(32-bit) provided by the official site of friendly a

Moveit in nanopi M3 board not working. I have installed ubuntu 16.04 provided by the official site of friendly arm on Na

Moveit in nanopi M3 board not working. I have installed ubuntu 16.04 provided by the official site of friendly arm on Na

I am using diff_drive control package from ros_control.I have two dynamixel motors.How to register the motor with the hardware interface of ros_control and how to publish the velocity commands to dynamixel motor from diff_drive_controller I am a newbie.So please explain me with the code.

Explanation: I am explaining it as per my understanding. If it is wrong, please correct me. The arrow head in the interactive marker is always aligned with the x-axis of the last joint. But the last joint of my arm has the end effector attached to it along the z-axis(rotation axis). Since the arrow head always points the x-axis, the end effector and the arrowhead where not aligned.

Solution: I opened the SolidWorks model of the arm and changed the coordinate system for the last joint having the rotational axis as the x-axis. Now the arrow head is aligned with the end effector because now it rotates along the x-axis. C:\fakepath\sol.png

I have a 6DOF arm and I have configured move_it for the arm in indigo. I am using the cartesian path planner plugin to define waypoints for the arm. But the interactive marker from the plugin is not aligning with the end effector axis.

In this picture, you can see that the endeffector is facing upwards but the marker is not aligned with the axis of end effector. How to make the interactive marker point the correct axis?

I am working on a 6 DOF robot arm for surgical operation. The endeffector is a cutting tool. The requirement is that the endeffector of the arm should follow a path defined by series of waypoints and the trajectory exection should be smooth and continuous.

Steps done so far:

• Using ros-moveit-indigo installed in ubuntu 14.04.
• Configured moveit_setup_assistant for the arm
• Tested various start and goal positions with different planners to chose the best planner out of it.
• Now finalised the planner as trac_ik
• Next, I Installed cartesian path planner plugin.
• Using the interactive markers, defined series of points for the arm to follow.
• Tried to tune the parameters of the cartesian path planner and have set the step size to be minimum 0.001 and allow replanning is enabled and planning time is set to maximum.

Result:

The planner couldn't able execute the path completely and failed most of the times showing only less than 20% of path able to execute. But all the points defined are valid.

Question:

How to make the cartesian path planner execute the trajectory completely?

Is cartesian path planner is the only way to define and execute a smooth trajectory?

What are the other options to define a smooth trajectory for the arm?