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2017-04-17 13:49:06 -0500 commented answer [Moveit]Howto make two joints always have identical position

Thank you, this is exactly what I was looking for!

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2017-04-16 16:05:04 -0500 asked a question [Moveit]Howto make two joints always have identical position

I have a robot arm where I have two revolute joints (one driven and one forced) which will always have the same position (angle in my case) due the mechanical constrains of my robot.

What is the best way to implement a Moveit configuration for this kind of situation?

My first idea was threat both joints as normal Joints, and send fake axis information for the forced one from my Robot controller. This solution should work, but the motion planned would have to do extra calculation for this joint too.

I am unsure if the virtual joints could be used for this purpose.

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2016-05-16 16:11:50 -0500 commented question Generic UI plugin for rqt?

Well you are right, generic might be not the best word to describe what I would like to create. Min, max, step values could be defined in the UI files with Qt Designer.

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2016-05-15 15:32:21 -0500 asked a question Generic UI plugin for rqt?

Hello all,

I have opened this topci to do some brainstorming before start implementing a new plugin.

Problem: I often find manipulating/monitoring topics with the Topic monitor and the Message publisher plugin no so intuitive. For e.g. when adjusting something servo driven mechanical structure using a knob widget is more easy and straightforward than typing in a number to the Message publisher. Also visualizing a position of something sometimes more handful with a dial/slider. Building a separate plugin each time is a little bit problematic.

Proposal: I would like to create a plugin which would have a file browse input and an interval spinbox (ms). I think the Qt Designer is a pretty good tool to create user interfaces pretty quickly. The plugin would be able to load the designed ui files. The Qt has a QUiLoader class to acheieve this functionality: In Qt designer it is possible to add further properties to the widgets. There would be two dedicated property names: the publish_topic and the subscribe_topic. The widget tree would be traversed by recursively iterating through the children() method and if one of these properties found the widget would be connected to ros through the proper signals/slots. The proper slots/signals are dependent on the widget class, so some QMetaObject magic will be required, but it can be implemented.

If you have any ideas recommendations please let me know!

Thanks in advance!

2016-04-18 16:50:09 -0500 asked a question ros::master::getTopics bug?

Hello all,

I have tried to get a list of all topics in an rqt plugin with the ros::master::getTopics as suggested here:

When I have first run my plugin only ros_out and ros_out_agg was accessible even if rostopic list listed another topics too. After opening a Plugins -> Easy message publisher the another topics also appeared.

I have created a PoC cpp file to test:

I am running Ubuntu 14.04 LTS, ROS indigo from the apt packages.

Does anyone has any information why the later method is failing? Thank you in advance!