rohin's profile - activity

I am trying to create a smart dashboard using Qt Quick/Qt Quick Controls 2 for my robotic appliance which is based on ROS. Can anyone guide me on the best way to proceed ?

I do not want to use Qt Widget because the application is for an Embedded Product and not a Desktop.

Thanks! That solved it!

Yeah...

I was doing

co.header.frame_id = group.getPlanningFrame(); co2.header.frame_id = group.getPlanningFrame();

How should I assign different ID's?

I am unable to add multiple objects to MoveIt planning scene. Using the Move Group C++ API, I do:

moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
moveit_msgs::CollisionObject co, co2;

..
..
Fill in the fields of moveit_msgs co & co2

.. ..

co.operation = co.ADD;
co2.operation=co2.ADD;

std::vector<moveit_msgs::CollisionObject> collision_objects;
collision_objects.push_back(co);
collision_objects.push_back(co2) ;

ROS_INFO("Add an object into the world");
planning_scene_interface.addCollisionObjects(collision_objects);

sleep(2.0);

When I run it, only one collision object appears i.e. co2 .

I can not figure out what am I missing. Please help me out.

I am building a hardware interface for my robot using the Dave Coleman's template package ros_control_boilerplate

I am having problems building my package. Relevant snippets of my CMakeLists.txt look like:

include_directories(include ${catkin_INCLUDE_DIRS})

add_library(nymble_hw_interface src/nymble_hw_interface.cpp)
target_link_libraries(nymble_hw_interface ${catkin_LIBRARIES})

add_executable(nymble_hw_control_loop src/nymble_hw_control_loop.cpp)
target_link_libraries(nymble_hw_control_loop
  nymble_hw_interface
  generic_hw_control_loop
  ${catkin_LIBRARIES})

install(TARGETS  
        nymble_hw_interface 
        LIBRARY DESTINATION
    ${CATKIN_PACKAGE_LIB_DESTINATION})

install(TARGETS
    nymble_hw_control_loop
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY include/${PROJECT_NAME}/   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

On running catkin_make, I am getting the error

/usr/bin/ld: cannot find -lgeneric_hw_control_loop
collect2: error: ld returned 1 exit status
make[2]: *** [/home/rohin/catkin_ws/devel/lib/hardware/nymble_hw_control_loop] Error 1
make[1]: *** [nymblebot/hardware/CMakeFiles/nymble_hw_control_loop.dir/all] Error 2
make: *** [all] Error 2

I am at a loss to understand why my generic_hw_control_loop library is not being linked when it is an installed library under the package ros_control_boilerplate.

Also I have listed ros_control_boilerplate as a build and run dependency in my package.xml

The executable I'm building contains :

#include <ros_control_boilerplate/generic_hw_control_loop.h>

Thanks! I found out that I was not setting an initial size to a std::vector which was causing the program to crash.

I'm running : 1. ROS Indigo 2. Ubuntu 14.04 Trusty

I'm simulating a 6DOF robotic arm using ros_control and using gazebo_ros_control plugins. I'm using Joint Position Controllers.

I have set up the .yaml file containing the type of controllers. I have also added all the transmission and gazebo_ros_control tags in my URDF file.

Everything launches without any error. When I try to publish messages on /robot_arm/joint1_position_controller/command topic I'm unable to move the revolute joints. Interestingly I have two continuous joints among my 6DOF which move.

Also these movements are abrupt and not in a smooth manner. Whereas I've tried tutorials where the arm follows a smoother motion using Joint Position Controllers.

How should I get my revolute joints to move? Please help!

I am struggling to implement a joint_trajectory_controller on Moveit.

I have: 1. Set up my controllers.yaml file

controller_list:
       - name: /nymble_arm_controller
         action_ns: joint_trajectory_action
         type: FollowJointTrajectory
         default: true
         joints:
             - base_swivel
             - arm_joint
             - elbow_joint  
             - wrist_pitch
             - wrist_yaw
             - wrist_roll

2.Implemented an action server node for joint_trajectory_action interface.

Action server I have implemented is from here

3.Created a moveit_planning_execution launch file as described here

This launch file contains the required controller_manager.launch file described here

4.Created a launch file to start action server and included above launch file.

I have gone through all the similar questions asked before but none has helped me.

Will be grateful for some help.

Ever since I have installed Conda, ROS does not seem to work. And predictably it is because Conda has changed my Python environment.

I run ROS Indigo on Ubuntu 14.04.

Can someone guide on how can I use both on my machine? I am willing to make changes to my system every time I want to switch from one to another.