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2016-08-09 00:53:21 -0500 commented question planning with multiple target points

I would be fine with that, but i can't get it working. The second planning request just starts in the starting position and not in point A. I am not able to find a way to set the starting Position to the planned target.

2016-08-08 08:03:46 -0500 commented question robotStateToRobotStateMsg

hmm well it looks like they don't get filled... Is there a way to get the joint values of a set (or planned) pose target?

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2016-08-03 09:05:24 -0500 commented question robotStateToRobotStateMsg

Okay. Updating Moveit fixed the error. But the positions in joint_state of start_state are all 0... shouldn't it have the values of the pose set in group.setPoseTarget or do i understand the getJointValueTarget function wrong?

2016-08-02 07:12:07 -0500 commented question robotStateToRobotStateMsg

I'm using ros indigo. Where can i get information about the Moveit version? Copying Code is hard because I'm working on pretty large project. I edit my original post with more information of what i want to do and a code sample.

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2016-08-02 05:41:44 -0500 asked a question robotStateToRobotStateMsg

Hello!

I keep getting the error:

‘robotStateToRobotStateMsg’ is not a member of ‘moveit::core’

In the CMakeList I have moveit_core, moveit_ros_planning, moveit_ros_planning_interface, roscpp, rospy and std_msgs as dependencies. Is there something else I need to add here? And I'm confused that moveit::planning_interface::MoveGroup::getJointValueTarget gives me a moveit::core::RobotState instead of a robot_state::RobotState like the documentation says.

edit: I want to plan a path with multiple waypoints without executing the individual paths. For that I want to ste the starting state to the target of the previous waypoint. I tried that with

   moveit::planning_interface::MoveGroup group("arm");

    ...
    ...
    <setting up target pose and planning path to first target> 
    ...

    moveit_msgs::RobotState start_state;
    start_state = group.getJointValueTarget()
    group.setStartState(start_state);

but getJointValueTarget() gives me a moveit::core::RobotState and setStartState() wants a moveit_msgs::RobotState or a robot_state::RobotState, that's why i tried robotStateToRobotStateMsg.

moveit::core::robotStateToRobotStateMsg(group.getJointValueTarget(), start_state);

which gave me the mentioned error.

I'd also appreciate new/better approaches for my intention.

Thank you in advance!

2016-08-01 11:35:48 -0500 asked a question planning with multiple target points

Hello!

I'm working on a KUKA industrial robot with moveit. is it possible to plan multiple target points with one command? I want my robot to go from his starting position to point A and then to point B. Do I have to plan from the starting position to point A and then from point A to point B or is there a way to plan the movement all at once? I know that MoveIt has the function ComputeCartesianPath which can do that, but i don't want linear movements.

Thank you in advance!

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2016-04-27 10:55:11 -0500 answered a question Use roscore, roslaunch and rosrun in bash script

Solved it by exporting my ros path in the bash script!

2016-04-27 10:53:03 -0500 asked a question Use roscore, roslaunch and rosrun in bash script

Hello! I want to start roscore and several ros nodes from a other program with a bash script:

#!/bin/bash
source /opt/ros/indigo/setup.bash
source /catkin_ws/devel/setup.bash
roscore

when I call the script manually everything works, but when i call it from the other program (with system(start_ros.sh)) nothing happens. Any ideas what I'm doing wrong?