jdeleon's profile - activity

Hi all! I'm fighting to create a polar robot configuration with Move It.

The polar robot has 3 joints: rotational, rotational and prismatic.

I have model it in a xacro file and can move it with problems in Rviz with fake controllers.

Rviz simulation

Here is the xacro file of the robot (be care to uncomment the lines for the joint with the world) link

And for launch it, this is the command:

roslaunch arm_description rviz.launch

Then I follow the MoveIt! tutorial for a custom robot (link) and generate all the files correctly, but as you can see in the next video, it only moves the first joint (rotational) and the third joint (prismatic), but not the second one (rotational). Video

And for launch it, this is the command:

roslaunch rrp_moveit demo.launch

I would apreciate some help in trying to fix this problem.

Kinds regards, Jorge

EDIT: This is the workspace for all the project.

And with this form: <xacro:fotokite_arm parent="world"> <origin xyz="0 0 0" rpy="0 0 0" /> </xac

I have add to the question my launch file and the macro file that calls the one with the macro. I have also try to cal

Error: Joint is missing a parent and/or child -> No TF data Hi all, I'm trying to build a robotic arm, but I'm havi

If I modify the code with your EDIT4 and launching only this xacro, I still can't get more TFs than the world and the mo

If I modify the code with your EDIT4 and launching only this xacro, I still can't get more TFs than the world and the mo

I have in another xacro what you say: <!--Import Fotokite arm --> <xacro:include filename="$(find arm_descript

If try changing the links (visual and collision) to the standard xacro form, and neither I can't get the TFs. I update

Error: Joint is missing a parent and/or child -> No TF data Hi all, I'm trying to build a robotic arm, but I'm havi

Error: Joint is missing a parent and/or child Hi all, I'm trying to build a robotic arm, but I'm having troubles when

Hi @Delb, I had the same error if I try to convert to URDF.

Error: Joint is missing a parent and/or child Hi all, I'm trying to build a robotic arm, but I'm having troubles when

Hi @FelipeNascimiento, finally your solution is right!! But the problem is that now I can't get the TFs of the robot, I

Hi @FelipeNascimiento, with your modification and don't have the error, but now I have this one: Error [parser_urdf.cc:

If I comment the first if for the child <!--xacro:if value="${parent != 'length'}"--> <child link="${pr

I have edit the question, the macro definition was not insert as code. Now you can see that I declare the child variable

I have edit the question, the macro definition was not insert as code. Now you can see that I declare the child variable

I have edit the question, the macro definition was not insert as code. Now you can see that I declare the child variable

Error: Joint is missing a parent and/or child Hi all, I'm trying to build a robotic arm, but I'm having troubles when

Error: Joint is missing a parent and/or child Hi all, I'm trying to build a robotic arm, but I'm having troubles when

MoveIt! 2 arms joint Hi all! I'm trying to create with MoveIt! a modular robotic arm but that each module can be control

Hi all!

I'm getting stuck trying to save the trajectory generate by MoveIt to a file.

The trajectory is generated correctly and the robot moves right in RViz.

moveit_msgs::RobotTrajectory trajectory;
const double jump_threshold = 0.0;
const double eef_step = 0.01;
double fraction = move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);

Also, I can open a file and write that in it. But I can't obtain the data of the trajectory.

If I read the data with:

trajectory.joint_trajectory.points[i].position[6];

I get a value, that I don't know what it means, and also is only one point, no three for the X, Y, and Z of the joint.

If I try with:

Eigen::Affine3d t;
tf::transformMsgToEigen(trajectory.multi_dof_joint_trajectory.points[i].transforms[j], t);

I can compile my code, but I get an error when executing the program. The error code is -11.

[move_group_interface_tutorial-1] process has died [pid 19367, exit code -11, cmd /home/crasar/WS/fotokite_ws/devel/lib/moveit_tutorials/fotokite_move_path __name:=move_group_interface_tutorial __log:=/home/crasar/.ros/log/f8fe907a-cb06-11e8-bd7b-d89ef3923760/move_group_interface_tutorial-1.log].
log file: /home/crasar/.ros/log/f8fe907a-cb06-11e8-bd7b-d89ef3923760/move_group_interface_tutorial-1*.log

Here is the workspace of my project.

And to launch it you need two terminals:

1. roslaunch fotokite_moveit demo.launch
2. roslaunch moveit_tutorials fotokite_move_path.launch

Thank you, Jorge

The solution is made of two answer: - question #277954 -> store data into file - question #246678 -> transform the

Hi @PeteBlackerThe3rd I have get it with the help of this question https://answers.ros.org/question/246678/solved-forwar

Hi @meghdeepj, could finally control the tilt angle?

Hi @PeteBlacketThe3rd, thank you for your answer. I have a 7 DOF arm. Which is RRR-P-RRR. And what about using the tr

Trajectory MultiDOF to file Hi all! I'm getting stuck trying to save the trajectory generate by MoveIt to a file. Th

Here you can find a good example to control 3 Robotnik Summits, which are 3 wheel robots. Repository

But I have one question. The data that is in the file, should be in which format? If I only want to get the position of

Hi @PeteBlackerThe3rd I have implemented your code and it's working. I change some things, for example: while (count &