gutianqi's profile - activity

I want to write a IK plugin in moveit for my own robot just like PR2. I read the IK plugin of PR2 but didn't know how to write it exactly. I wonder what function I should write to connent the IK to moveit. The ROS version I use is Indigo.Thank you!

Hello! In joint_limits.yaml, there are two kinds of limits which are max_velocity and max_acceleration. I wonder what are the units of those limits? max_velocity : m/s or rpm ? max_acceleration : m/s2 or rpm/s? I will be grateful if any of you could help! Thank you!

Gu Tianqi!

Hi guys!

I use MoveIt! for motion planning for my dual arm robot. There are three groups.Group "left" stands for left arm.Group "right" stands for right arm and Group "both" includes Group "left" and Group "right" as its subgroups. I launch the demo.launch which auto generated by setup-assistant. I choose the Group "both" but can not find the interactive markers as shown below:

But I choose the Group "right" and Group "left", the interactive marker exists. I find PR2 has the interactive markers when planning for both arms. I wonder why I cannot find the interactive markers when planning for both arms

sorry for my poor English! Thanks if anyone could help!

Hi, guys!

I added a collision object in RVIZ and then I used RRTconnect to plan a trajectory for a dual-arm robot.

But it often failed when I tried to move one arm from one side of the collision object to the other side.

It seems that the planner found an obstacle in the trajectory and failed. From what I have known about RRTconnect, it should find a trajectory without collision.but in MoveIt! it seems that OMPL first finds a trajectory and then check if it exists obstacles in the planned trajectory.That's different from RRTconnect.Why is that ? I wonder how to plan a collision-free trajectory.

thanks!

gutq

Hi,Guys!

I use OMPL to plan a trajectory in MoveIt! There are several algorithms in OMPL such as RRTConnect, PRM. Using default config in the ompl_planning.yaml, the trajectory seems not that well. It is not the optimal one and has a lot to improve.

I wonder how to set the parameters of OMPL for better planning in MoveIt!. I found some tutorials like ompl_ros_interface, but it was for groovy and obviously out of dated. Is there any tutorials for indigo?

Can I modify the script in OMPL for better plannning or can I write a planner using RRT or PRM and load in MoveIt?

Looking forward to your help! Thanks!

Hi,guys! I wonder how to pick and place an object in MoveIt! I found the current tutorial is base on groovy. Is there any tutorials which can be used in indigo? Is there any demo about pick&place? thanks for your help!

Hi guys!

I see the script of PR2 IK plugin. At first, I thought PR2 just locks one joint and makes itself a 6-DOF robot to solve the IK. In this way, the locked joint should be always the same value as the initial value. But when I output the value of the locked joint by moving the end-effector in MoveIt!, I found it changed in some pose. I don't find the script where to change the value of the locked joint, but it does happen. I wonder how the value changes and call which function to change the value of the locked joint!

I will be grateful if anyone could help! thanks a lot!

I wonder if it can plan a Cartesian path in visual editor RVIZ using ompl. Just use the "plan and execute" button and some other configuration it can plan a Cartesian path visually in RVIZ. Thank you!

Hi!Guys! I use OMPL to plan a trajectory in Moveit! But it seems that OMPL just plan in joint space as default. I wonder can OMPL plan a trajectory in cartesian space in Moveit. I will be grateful if any of you could help! Thank you ! Yours sincerely!

I have written an IK plugin based on PR2. It can successfully start in rviz ,but when I move the label on the end effector it cannot follow the label. Below is the picture. Where I need to modify my script ? I will be grateful if any of you could help! thanks very much!