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2017-08-26 03:13:55 -0500 marked best answer catkin_make vs catkin build

Hi,

I was reading about the moveit package and I tried to install from source. My problem was that the catkin build command didn't work. So I did apt-get install catkin_tools and then I was able to install the moveit package.

Then I cloned another package in my workspace and ran catkin_make but it didn't work. This is the error I'm getting :

Built target moveit_robot_interaction
[ 80%] Built target moveit_move_group_capabilities_base 
make[2]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir                    /src/planning_scene_storage.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit /warehouse/planning_scene_world_storage.h:40:0,
             from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/src/planning_scene_world_storage.cpp:37:
/home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit/warehouse    /moveit_message_storage.h:40:47: fatal error: warehouse_ros/database_connection.h: No such file or directory
 #include <warehouse_ros/database_connection.h>
                                           ^
compilation terminated.
In file included from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit   /warehouse/constraints_storage.h:40:0,
                 from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse /src/constraints_storage.cpp:37:
/home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit/warehouse    /moveit_message_storage.h:40:47: fatal error: warehouse_ros/database_connection.h: No such file or directory
#include <warehouse_ros/database_connection.h>
                                           ^
compilation terminated.
[ 80%] make[2]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir /src/moveit_message_storage.cpp.o] Error 1
In file included from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit /warehouse/trajectory_constraints_storage.h:40:0,
                 from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse    /src/trajectory_constraints_storage.cpp:37:
/home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit/warehouse   /moveit_message_storage.h:40:47: fatal error: warehouse_ros/database_connection.h: No such file or directory
#include <warehouse_ros/database_connection.h>
                                           ^
compilation terminated.
Building CXX object moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir    /src/state_storage.cpp.o
make[2]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir /src/planning_scene_world_storage.cpp.o] Error 1
In file included from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit/warehouse/state_storage.h:40:0,
             from /home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/src/state_storage.cpp:37:
/home/sbr/first_workspace/src/moveit/moveit_ros/warehouse/warehouse/include/moveit/warehouse/moveit_message_storage.h:40:47: fatal error: warehouse_ros/database_connection.h: No such file or directory
 #include <warehouse_ros/database_connection.h>
                                           ^
compilation terminated.
make[2]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir/src/constraints_storage.cpp.o] Error 1
make[2]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir/src/trajectory_constraints_storage.cpp.o] Error 1
[ 80%] Built target move_group
make[2]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir/src/state_storage.cpp.o] Error 1
make[1]: *** [moveit/moveit_ros/warehouse/warehouse/CMakeFiles/moveit_warehouse.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 83%] Built target moveit_ompl_interface
[ 84%] Built target moveit_pick_place_planner
[ 85%] Built target moveit_move_group_default_capabilities 
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

What is the issue in using catkin_make and catkin build simultaneously?

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2017-03-17 09:29:56 -0500 asked a question When to use the move_groupinterface and GetMotionPlan service

I am aware of the implementation of motion planning in moveit using the move_group_interface

If I have a simple pose goal, I can use the moveit_ros/planning_interface/move_group_interface to do the planning.

However, I can do the same using the GetMotionPlan service from moveit_msgs.

My question is, when should I use what? What could be the advantages and disadvantages of each method?

2017-02-01 03:39:50 -0500 received badge  Popular Question (source)
2017-01-31 12:07:55 -0500 asked a question Robot State with Attached Object in Motion plan Request

I have executed a node through which I have attached an object to my robot using the service apply_planning_scene.

I am writing another node where I want to send a motion plan request and I would like the planner to account for the attached object as well.

This is the snippet of the code for that :

robot_state::RobotStatePtr robot_state = group.getCurrentState(); //Get the current state of the robot with the attached object
moveit_msgs::RobotState rob_st;
bool copy_attached_bodies = true;
robot_state::RobotState rs; //
rs = boost::get<robot_state::RobotState>(robot_state);
robot_state::robotStateToRobotStateMsg(rs, rob_st, copy_attached_bodies);

And then I can send the rob_st as a robot_state in the motion plan request :

req.request.motion_plan_request.start_state = rob_st;

I am new to C++ and don't have much knowledge about pointers and stuff. And I could make out from these links that they deal with boost pointers:

http://docs.ros.org/groovy/api/moveit...

http://docs.ros.org/jade/api/moveit_c...

Is my technique right? Is there any other way through which I can send the current state of the robot(with attached object) in the motion plan request?

2017-01-31 11:15:26 -0500 asked a question Easy Access to robot poses created using the MoveIt! Setup Assistant

Consider that I have set 3 different poses for my robot with different names and different joint values.

Now while using the MoveIt Setup Assistant I can add the 3 poses under the tab Robot Posesand click the button MoveIt! at the bottom of the Setup Assistant screen to see the robot change the poses.

I want to know how I can easily switch between the 3 poses when I am using the move_group_interface and the RViz plugin.

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2017-01-27 17:48:47 -0500 commented question Solidworks to URDF - ResourceNotFound: gazebo_worlds

Please post your URDF file and the launch file. It is difficult to figure out otherwise.

2017-01-27 10:07:29 -0500 commented answer Pose Goal as Motion Plan Request

The moveit_ros/planning_interface/move_group_interface method that you mentioned has to be used with the kinematics_constraints package right? How can I specify the pose goal if I wish to use the service GetMotionPlan?

2017-01-27 10:03:34 -0500 commented answer Pose Goal as Motion Plan Request

I just want to make sure I understand that correctly. So for example if my pose goal is at x = 0.5m, y = 0.8m and z = 0.4m, and if I am not concerned with the orientation, it will make a volume of (0.1mm^3) keeping that (x,y,z) point as the centre?

2017-01-26 15:01:03 -0500 received badge  Popular Question (source)
2017-01-25 16:31:34 -0500 asked a question Pose Goal as Motion Plan Request

I have gone through the moveit_msgs and I have seen the Motion Plan Request.

My question is, how can we specify a pose goal in the motion plan request? Is it possible to set a simple pose goal as shown in the moveit tutorials?

Also in the motion plan request message, there is a goal_constraints which further contains position_constraints. What is this constraint and where could it be used?

Thank you!

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2016-10-25 06:20:44 -0500 asked a question Polishing Tool Tip Position Tracking

Hi,

I am working on a project in which I am using a Mitsubishi Industrial Robot to perform polishing of metal parts. I want to track the position of the polishing tool in the workspace during the polishing operation using a camera. The plan is to mount the camera vertically on top of the space where the workpiece is polished.

Here youcan find a raw sketch to describe what I had initially planned.

I have a few questions pertaining to the concept.

  1. Will the kinect camera be able to detect the position of the tool tip during the polishing operation?
  2. What will be the accuracy of the measured position? Can it be improved by calibration?
  3. What kind of marker could I use on the robot or the tool, if needed?
  4. What is the best place to mount the camera in order to track the position of the marker?

Any help and advice is greatly appreciated!