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2017-01-07 08:09:35 -0500 | asked a question | URDF generated by SW2URDF fails planning in MoveIt I am using the The problem I faced was that I was not able to plan the trajectories reliably, I could only succesfully plan about 1-2 out of every 10 attempts. Even a few simple trajectories failed. I though this could be an issue with the KDL solver, but even IKfast, the alternate solver failed.(Check this question for details). Now, just to ensure that there is no issue in my robot configuration, I built a URDF file by hand. I ensured that my joint configuration remained the same. This URDF worked flawlessly and almost all plans worked pretty fine. Even with the default KDL solver. This tells me that there could have been an issue with the sw_urdf_exporter plugin. I am using solidworks 2013(the version recommended). My design is also pretty simple. Has anybody got the plugin to generate a urdf which works reliably with MoveIt and planning? How can I debug what could have gone wrong in the URDF generation? I can provide both the generated and the handwritten URDFs if it would help someone. |
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2017-01-06 13:56:21 -0500 | answered a question | Generating IK solution for use in MoveIT for 5 DOF arm We have been trying to debug this issue since the past 2 days. With no clear reason for this problem, we decided to try solving the IK of robot of the same configuration with a simple URDF file. So we wrote a urdf by hand, with the same joint and link config as our robot. The URDF we used earlier was generated from our original CAD model using the Solidworks URDF Converter plugin. With this simple URDF, we did the same process as mentioned above. From this new MoveIt config, the plans were working significantly better. With the earlier urdf, hardly 1 out of 10 plans would work and even simple plans where only 1 motor had to move were failing. But with this new URDF model, many plans are working realli good! Even with the basic KDL solver with OMPL. And this is the same 5 dof configuration we had before. Our guess is that the solidworks urdf exporter plugin, which is severely dated, might be causing the issues in the planning. But we are still figuring out the actual, fundamental cause for this issue. As far as solving the above problem is concerned, building a URDF by hand solves this problem for us. Even the IKfast library generates an analytical cpp solution. |
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2017-01-05 03:17:35 -0500 | commented question | Generating IK solution for use in MoveIT for 5 DOF arm I installed Sympy 0.7.1, but i still get the same error with openrave. I've added the exact error in the above question... |
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2017-01-04 15:13:41 -0500 | asked a question | Generating IK solution for use in MoveIT for 5 DOF arm I am working on a custom 5 DOF arm(image at the bottom). I have generated the URDF, the MoveIt configs etc for it. I want to have the basic IK, planning and collision detection features of MoveIt. Before programming my application, I tried running the simple planning in RViz, using the interactive marker etc. Now, since it is a 5 dof system, I had to enable "Allow Approximate IK solutions", for it to let me use the interactive markers. It was using OMPL by default. I tried planning for some random-valid goal states. The problem is that the planning success rate was very very low. 4 out of 5 times the planning failed. I also tried changing the planners from the dropdowns, but none of them were consistent in planning succesfully, all of them were failing quite frequently. After looking up this problem here on Ros-Answers and many other places, we found that IKFast would be what we should use, as it works reliably for 5 dof systems. After installing openrave and ikfast via source, we ran the commands to generate a IKfast cpp file(using this tutorial) for our robot model. We tried the TranslationDirection5D ik type. Now here we are getting a Here'ss the exact error i get when i try to generate an ikfast cpp, Is there a recommended way to get IKfast to generate a cpp or maybe even get the normal KDL to work reliably for my 5 dof system? I would really appreciate any kind of help to get this to work, thanks Here's the picture of the bot from RViz |
2017-01-03 09:09:58 -0500 | commented answer | Integrate actual robot into moveit(other way than ros_control?) Hey @adolfo-rodriguez-t, my hardware has an inbuilt position control algo(PID), so i dont actually need the PID control etc from ros_control. If i just need moveit's IK and collision detection, is it ok if I implement these actions and publisher, will I lose anything if I dont implement ros_control? |
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2016-10-25 15:04:04 -0500 | commented answer | Error while launching demo.launch in custom moveit config
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2016-10-24 15:51:10 -0500 | commented answer | Error while launching demo.launch in custom moveit config Yes, putting the generated folder into a package file structure (as mentioned here ) works. Also before running the launch file, I had to ensure |
2016-10-24 15:48:59 -0500 | marked best answer | Error while launching demo.launch in custom moveit config I have generated a moveit configuration from a custom URDF using the MoveIt Setup assistant and this tutorial(http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot). I have been able to generate all the files in the config and launch folders as well. But, the problem occurs when I try to launch the demo.launch file using roslaunch. Since this is a custom URDF, there's no package name, hence I simply use this command to launch the file Everytime I try to do this, I get an error like this Here, What am I missing here? Do I need to perform any other steps(besides those mentioned in the tutorial) to get it to work? |
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2016-10-23 06:53:08 -0500 | commented answer | Getting real time torque values from Rviz during move execution I ended up using Matlab's SimMechanics finally. I only wanted the dynamics values in a few cases and simmechanics took less time than modifying the code. Thanks |
2016-10-23 06:49:29 -0500 | asked a question | Using MoveIt programmatically and integrating with ros_control I have a question about using moveit for my custom 6 dof manipulator robot. I am pretty new to ROS, and I really hope to learn from the community. Basically I want to go from a URDF file to actually programmatically sending commands to my robot after planning trajectories using moveit. From the various tutorials, I have figured that this is what i have to do
I have questions about Step 3 and 4. How do I programmatically control my own robot? The MoveIt MoveGroup tutorial here has an example of the API but critical things(like, how do I use my robot's files?) are not clear here. How do I import my robots files(or direct MoveIt to it) in the script to ensure the calculations are done properly? I understand MoveIt commander is the python interface, but is there any example using the MoveIt Commander and a description of its API? Could somebody link to Open source code for open robots that I can see and learn. Can you link me to any code which runs on a robot other than the PR2, that I can run and test on my system? Also, How do I connect Ros_control and MoveIt? I have looked into the ros control boilerplate repository which has some pointers on writing the driver, but I cant find any documentation on the interface between the two. I want to use MoveIt for my custom robotic arm and have reached the stereotypical cliff that occurs after reading through and doing the common tasks in the various tutorials and videos on ROS. Thanks! |
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2016-10-15 06:46:43 -0500 | commented answer | Error while launching demo.launch in custom moveit config And should i then rebuild and |
2016-10-15 06:46:07 -0500 | commented answer | Error while launching demo.launch in custom moveit config By custom urdf, I mean I have a urdf file which I imported to the MSA(It didnt need any package name). Now the MSA generates a set of files into a configured folder with the CMakelists and package files I used the folder name |
2016-10-15 04:17:38 -0500 | commented question | Error while launching demo.launch in custom moveit config If i run |