SaranKanag's profile - activity

Hi Lex, Thanks for your consideration. I am using MoveIt's "KDL kinematics" library which will be specified while creating MoveIt package using MoveIt setup assistant. I am not changing/assigning it externally.

Hi Lex, Thanks for your consideration. I am using MoveIt's "KDL kinematics" library which will be specified while creating MoveIt package using MoveIt setup assistant. I am not changing/assigning it externally.

Hi,

When i am trying to execute a goal in MoveIt, i could see MoveIt resulting in longer trajectories most of the time.

Without MoveIt in picture, I am able to execute shortest trajectory by giving only the shortest path computed (i.e. only goal joints positions) to actionClient "/arm/joint_trajectory_controller/follow_joint_trajectory" using actionlib.

I am trying to do the same using MoveIt. I also tried by giving the computed shortest path (goal joint position) using below code, but unexpectedly MoveIt again is planning a trajectory(set of points-path) for the same and it resulted in long trajectories again.

group_variable_values = group.get_current_joint_values()
group_variable_values[0] = -1.57
group_variable_values[1] = 1.0
group_variable_values[2] = 0.35
group_variable_values[3] = 0.567
group_variable_values[4] = 0.0
group_variable_values[5] = 2.2
group.set_joint_value_target(group_variable_values)
group.go(wait=True)

So can any one help me in finding and providing shortest trajectory for goal execution using MoveIt.

Thanks in advance.

Hi,

I am using PG70 gripper with schunk LWA4P arm. I am using ROS for my development. PG70 manual mentions that it has a range for gripping force from 30-200 N. This can help in varying the way how gripper can hold different objects. For example, force applied to hold a plastic object, a glass object and a rubber object has to be different.

So can anyone please help me in getting gripping force from PG70 gripper?

Thanks in advance.....

Hello Jorgelu, I am trying to create a moveit package for Schunk LWA4P and PG70 together. It requires all dimensions to be in the same unit. so it would be helpful if i obtain below, Can you please describe on what basis you fixed gripper limits as 0.3 to 1.14?
what physical unit does it follow?

I tried a pick and place application developed in ROS with Schunk LWA4P robotic arm. Initially it worked fine completely. Even when I shut down the robot at positions apart from home (all angles 0 degree) it worked fine on next new initialization. But now I am facing a weird problem with joint 5’s angle. For example when I shut down my robot with a pose which has following angles values, (as obtained from rostopic “/arm/joint_states”)

Joint 1 = 1.57 radians; Joint 2 = -1.23 radians; Joint 3 = 1.88 radians; Joint 4 = 0.0 radians; Joint 5 = 0.745 radians; Joint 6 = -1.48 radians

After ros service call for shut down, I turned off the robot and started again with new initialization. After initialization rostopic “/arm/joint_states“ displays the angle values of same pose at which it stopped now as

Joint 1 = 1.57 radians; Joint 2 = -1.23 radians; Joint 3 = 1.88 radians; Joint 4 = 0.0 radians; Joint 5 = 0.0 radians; Joint 6 = -1.48 radians

I could see an incorrect joint 5 angle. Initially it was not happening but now it happens all the time when I newly start the robot. This mismatch occurs only at joint 5.

Can anyone help me out in resolving the same?