atomoclast's profile - activity

To build on what @fvd said, recall the images from the tutorial. It's a requirement for the robot description and the oc

What does the TF look like? Does the Rviz visualizaiton look correct? You may very well need some kind of publisher to t

Hello! Have you started off by going through the perception pipeline tutorial on the MoveIt Website? They have an examp

Hello all,

I am currently attempting to use MoveIt and trac_ik to coordinate x4 UR arms for a project in ROS. I had a few questions that maybe someone could help me with/point me in the right direction with:

1. Integration with MoveIt, I saw on the BitBucket page for trac_ik that you can set the solver via the kinematics.yaml file. I have changed it, and I tried to relaunch the demo.launch file that MoveIt created for my robot, and I'm still getting non-converging solutions in RViz, not matter how small of a movement I give it (like a rotation around a joint or to move up vertically a short distance). Is there any way to improve this? I see in the terminal that i'm getting feedback that says KDL, did the solver really not change? How do I change the solver via RViz/MoveIt?

2. When we move to a programmatic method to control the robots, the use of moveit_commander (python) will probably be deployed. Since we have trac_ik set in the yaml file, it should automatically use that solver for our control scripts, right?

3. In regards to our approach, does getting good results in RViz translate to good results in moveit_commander via python? I know it may sound silly, but with the same solver we should get the same solution regardless of interface?

4. Would anyone suggest suggest a different method of getting from joint space to Cartesian? We are using the ros_controller for joint state control.

I apologize if these questions are silly, this is my first real attempt to do something with MoveIt aside from the well documented PR2 tutorials.

Thanks in advance!

Hello,

I am currently in the process of writing a ROS node in C++ that subscribes to an image node, then does some processing from some arguments at the launch of the node that points to a few proprietary libraries.

If I were to write a callback in this format:

void processImagecallback(const sensor_msgs::ImageConstPtr& msg, int argc, char* argv[])

would that work? Or can callbacks only process the topic it is being subscribed to?

I would be calling it from an int main(int argc, char* argv[]) function`.

That should pass it through, right?

I'm rather new to ROS and callbacks.

Thank in advance!

I was able to impliment it quickly by looping through every element in the data portion of the PC2 message and running c

I'm trying to implement the question I asked here: http://answers.ros.org/question/263874/simulating-a-structured-light

I'm trying to do is simulate a sensor with a structured light sensor that has a rather long baseline (about 1m) between

Pointcloud2 messages and logical operations... Hello! I currently am writing something that I need to AND two pointclou

http://answers.gazebosim.org/question/16441/simulating-a-structured-light-sensor-in-gazebo/

I understand. I've posted on Gazebo Answers. I just posted it here in hopes to get some more eyes looking and hopefully

Simulating a Structured Light Sensor in Gazebo Hello, I am in the process of working on a system that will end up using

I'm looking into OpenRAVE. It does seem really fantastic, and I actually was able to run a study on my current design, but my issue is...you just get a 3D model with a cloud. How do I compute workspace dimensions and so on with it? There's also no information as to how the color coding is setup?

Yeah, I'm looking into Reuleaux!

Just need to do some stuff to get it to play nicely with Kinetic.

Hello All!

I'm in the process of building a tool for a robot that I'm working with and we are trying to use an Arduino to communicate with ROS to control the end effector. We are right now broadcasting a Boolean topic via a separate node, and we would like the Arduino node to subscribe to the topic and then do an operation based off of the true/false state of the topic.

In my callback I have:

void messageCB(const std_msgs::Bool::ConstPtr& state)
{
  if (state.data = true)
  {
     //do stuff
  }

But I keep getting many errors:

rotational_table_node.ino:17:22: error: ‘ConstPtr’ in ‘class std_msgs::Bool’ does not name a type
rotational_table_node.ino:17:48: error: ISO C++ forbids declaration of ‘state’ with no type [-fpermissive]
rotational_table_node.ino: In function ‘void messageCB(const int&)’:
rotational_table_node.ino:21:13: error: request for member ‘data’ in ‘state’, which is of non-class type ‘const int’
rotational_table_node.ino: At global scope:
rotational_table_node.ino:54:76: error: invalid conversion from ‘void (*)(const int&)’ to ‘ros::Subscriber<std_msgs::Bool>::CallbackT {aka void (*)(const std_msgs::Bool&)}’ [-fpermissive]
In file included from /home/motherbrain/sketchbook/libraries/ros_lib/ros/node_handle.h:84:0,
                 from /home/motherbrain/sketchbook/libraries/ros_lib/ros.h:38,
                 from rotational_table_node.ino:5:
/home/motherbrain/sketchbook/libraries/ros_lib/ros/subscriber.h:97:7: error:   initializing argument 2 of ‘ros::Subscriber<MsgT, void>::Subscriber(const char*, ros::Subscriber<MsgT, void>::CallbackT, int) [with MsgT = std_msgs::Bool; ros::Subscriber<MsgT, void>::CallbackT = void (*)(const std_msgs::Bool&)]’ [-fpermissive]
       Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
       ^

Any idea what I'm doing wrong or could do differently?

Thanks!!!