WuJeff's profile - activity

I followed the tutorials to configured my kinect v2 on ubuntu14.04 and install the ROS(indigo) interface,Everything is ok but the viewer had no display?It displayed like this on my screen: Test : ROS interface test: and I have gotten to update the software and video card drivers!

Is this because the kinect v2 device node isn't added to the user group!if it is,while I don't know what the device node belongs to?

I followed the installing tutorials and configured the kinect V2 on the ubuntu 14.04,But when I roslaunch kinect2_bridge kinect2_bridge.launch,It appeared errors like this:

[Info] [Freenect2Impl] found 0 devices
[ERROR] [1469078610.640935165]: [Kinect2Bridge::initDevice] no Kinect2 devices found!
[ERROR] [1469078610.643123989]: [Kinect2Bridge::start] Initialization failed!
[FATAL] [1469078610.652032556]: Service call failed!

I don't know what's the matter! please help me!

my node programs:

#ifdef __i386__
#pragma message("i386 Architecture detected, disabling EIGEN VECTORIZATION")
#define EIGEN_DONT_VECTORIZE
#define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
#else
#pragma message("64bit Architecture detected, enabling EIGEN VECTORIZATION")
#endif

#include<ros/ros.h>
#include<moveit/move_group_interface/move_group.h>
#include <descartes_moveit/moveit_state_adapter.h>

#include<eigen3/Eigen/Geometry>
#include<eigen_conversions/eigen_msg.h>
int main(int argc, char *argv[])
{
    ros::init(argc,argv,"lesson_move_group_node");
    //start a background "spinner",so the node can process ROS messages
    ros::AsyncSpinner spinner(1);
    spinner.start();
    //create a Descartes robot model
    descartes_core::RobotModelPtr robot_model_ptr(new descartes_moveit::MoveitStateAdapter());
    if(robot_model_ptr->initialize("robot_description","manipulator","base","tool0"))
      {
        ROS_INFO_STREAM("Robot Model initialized");
      }
      else
      {
        ROS_ERROR_STREAM("Failed to initialized Robot Model");
        return 1;
      }

    moveit::planning_interface::MoveGroup group("manipulator");
std::vector<double> joints(robot_model_ptr->getDOF(),0);
   //std::vector< std::vector<double> > solutions;
   std::vector<double>solution;
   Eigen::Affine3d tool_pose;
   const double radius(0.10);
   double X(0.0),Y(0.0),angle(0.0);
   while(ros::ok())
   {
       angle=angle*3.141592/180.0;
       X=radius*sin(angle);
       Y=radius*cos(angle);
       tool_pose=Eigen::Translation3d(X, Y, 0.390)
                   * Eigen::Quaterniond(-0.014, 0.733, 0.680, -0.010);

        if(robot_model_ptr->getIK(tool_pose,joints,solution))
        {
            ROS_INFO_STREAM("Found IK solution: ["<<solution[0]<<", "
                       <<solution[1]<<", "
                       <<solution[2]<<", "
                       <<solution[3]<<", "
                       <<solution[4]<<", "
                       <<solution[5]<<"] ");
        }
        else
        {
            ROS_ERROR_STREAM("IK failed");
            return 1;
        }
       for(unsigned int i=0;i<6;i++)
       {
           joints[i]=solution[i];
       }
       angle=(angle+10.0)/360.0;
       group.setJointValueTarget(joints);
       group.move();

       //sleep(0.3);
   }
}

it just move once,and never move again?I followed the tutorials ROS-Industrial exercises 3.6 and exercises 4.1! I don't know why?

@Fredylucas It's just move the first waypoints,not a circle,how to do ?

thanks very much

Now,I have learnt action 's related tutorials including creation of client and server,Also learnt services including serviceClient and serviceServer,now I want to know their differences,It seems that I can implement same functions that I need with the two methods,please tell me when and where to use them?

well ,the ROS-Industrial can't be installed,where is the installation package?

Thanks,yes,I did as your advice,and I created a node named "ur5_node",but I don't how to config the CMakeList.txt file,please tell me,I am not familiar with Moveit!

what's the"angle_resolution"mean ,where is its definition?@Freaylucas

I need help

I have created a robot arm with 6DOF ,But I don't know how to move it with moveit pkg, like plot a line or a circle. I failed several times with reference to PR2. The tutorials are not that useful. so ,I need help! thanks

I have solved it

ok,that's it

"CMake Error at my_robot/CMakeLists.txt:31 (target_link_libraries):
  Target "kdl_parser" of type EXECUTABLE may not be linked into another
  target.  One may link only to STATIC or SHARED libraries, or to executables
  with the ENABLE_EXPORTS property set.


-- Configuring incomplete, errors occurred!
See also "/home/jeff/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/jeff/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed"

like this,please help me!

my CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(my_robot)


find_package(catkin REQUIRED COMPONENTS
             moveit_core
             moveit_ros_planning
             moveit_ros_planning_interface
             pluginlib
             cmake_modules#for eigen in indigo
             geometric_shapes
)

find_package(cmake_modules REQUIRED)#just for indigo
find_package(Eigen REQUIRED)#It makes some changes in indigo

catkin_package(
    CATKIN_DEPENDS
    moveit_core
    moveit_ros_planning_interface
    kdl_parser
)

#include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})
include_directories(${catkin_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS})

install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

add_executable(moveit_node src/moveit_node.cpp)
target_link_libraries(moveit_node ${catkin_LIBRARIES})
#link_directories(${catkin_SHARED_DIRS})

and my package.xml:

<package>

  <name>my_robot</name>
  <version>0.2.0</version>
  <description>
     An automatically generated package with all the configuration and launch files for using the arm_base with the MoveIt Motion Planning Framework
  </description>
  <author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
  <maintainer email="assistant@moveit.ros.org">MoveIt Setup Assistant</maintainer>

  <license>BSD</license>

  <url type="website">http://moveit.ros.org/</url>
  <url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
  <url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>

  <run_depend>moveit_ros_move_group</run_depend>
  <run_depend>moveit_planners_ompl</run_depend>
  <run_depend>moveit_ros_visualization</run_depend>
  <run_depend>joint_state_publisher</run_depend>
  <run_depend>robot_state_publisher</run_depend>
  <run_depend>xacro</run_depend>

  <build_depend>my_robot_description</build_depend>
  <run_depend>my_robot_description</run_depend>
  <!--<run_depend>cmake_modules</run_depend>-->
  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>kdl_parser</build_depend>
  <build_depend>pluginlib</build_depend>
  <build_depend>moveit_core</build_depend>
  <build_depend>moveit_ros_planning_interface</build_depend>
  <build_depend>moveit_ros_perception</build_depend>
  <build_depend>cmake_modules</build_depend>
  <build_depend>geometric_shapes</build_depend>

  <run_depend>kdl_parser</run_depend>
  <run_depend>pluginlib</run_depend>
  <run_depend>moveit_core</run_depend>
  <run_depend>moveit_fake_controller_manager</run_depend>
  <run_depend>moveit_ros_planning_interface</run_depend>
  <run_depend>moveit_ros_perception</run_depend>


</package>

please help me ! Appreciate it

please see my first comment above like"it shows in white words and red background that:You do not have the permissions necessary to save the file.Please check that you typed the location correctly and try again",this is the text of the image

it shows in white words and red background that:You do not have the permissions necessary to save the file.Please check that you typed the location correctly and try again

I did my configuration on vimrc as the tutorials,but I can't save the vimrc file,like this: