emielke's profile - activity

That is very helpful, thanks for the information. I don't know that I would need a "why did this fail", but having the j

MoveitCommander compute_cartesian_path collision return info I'm using moveit (latest ROS noetic binaries) on Ubuntu 20.

This is being addressed here. It appears that as of this release, this capability is not supported, and it needs to go

So like I said, I'm not familiar with abb, but what does the initial pose look like? Per here you might need to send a j

Short answer: subscriber and publisher are ROS-wide classes, listener and broadcaster are TF-specific classes. Long ans

You'll need to provide more information if you want the help you're looking for. On the surface, this seems like it's a

Not sure exactly why the change would cause an issue, but you could try one of the following: in your moveit_config pa

moveit cartesian plan subframe I'm looking into how to use MoveIt! to have a robot grab a tool, and then plan a path usi

Python3 ros msg serialization I recently decided to move from python2/melodic up to python3/noetic. However, I am runnin

The python2 solution worked for me, but not the python3. On the c++ side, it says the type is not a string, like it was

Yes thank you both for the help, this is what I was looking for!

Is there a better way to determine forward kinematics for a given joint pose without having to go through MoveIt's FK service? I'm finding I need to call the FK service faster than it's compute time (around 20 ms for me).

I don't think using tf2 is an option, as it will give me the current robot joint state. What I'm looking for is, essentially, a way to use the URDF/robot model to make a fk call with joint angles of my choosing, similar to how it can be done with the moveit service. I found this on the moveit tutorials, which on the surface looks like I'd need to create a "dummy" robot kinematic state and update it's state with my desired joint angles, and then call the getGlobalLinkTransform as indicated. I looked around the moveit repo, and couldn't find where this service even originates. When I load up moveit, a rosservice info /compute_fk says it's launched by move_group but I couldn't find anywhere in there that showed how this was called.

Any thoughts?

FK without using moveit service Is there an better way to determine forward kinematics for a given joint pose without ha

MultiArrays, unfortunately, cannot be multidimensional. So a 2D array could be flattened to a 1D array for this purpose,

When I made these changes I wasn't so concerned with yaw, so that behavior seems like what I was experiencing. Unfortuna

Creating new multiarray msg type I'm using an action server, and have a complex message type I'd like to send to the act

I'm trying to see my tf tree (rqt_tf_tree, tf view_frames, etc.) for a namespaced robot. I can't seem to get the system to behave the way I want it to. I have tried setting the ROS_NAMESPACE environment variable to my namespace, and then running rosrun tf view_frames and rqt_tf_tree, but it simply shows that no tf tree exists. I can see the tree exists in RViz, as well as by echoing /namespace/tf and /namespace/tf_static. Any ideas?

NVM, figured it out. Just needed to remap /tf and /tf_static per here. E.g. rosrun tf view_frames /tf:=/namespace/tf /

Melodic is not supported for 16.04 melodic, which could be why you're seeing those errors.

tf tree in namespace I'm trying to see my tf tree (rqt_tf_tree, tf view_frames, etc.) for a namespaced robot. I can't se

I'm not sure what your application is, but the MoveIt! tutorials address placing an object in the planning scene and int