ahmohamed's profile - activity

I've been working with moveit for the past two weeks. However, I am trying to do visual servoing with my robot, but I cannot find any example about moveit with visual servoing. I know that using moveit with API is always plan for the next movement which delays the process.

I try to use my visual servoing with planning in python I get really slow running (2Hz). I change to c++ and I get faster progress which is (10Hz). 10Hz is fine but still, the planning is not required in this process, especially the end_effector move by the small change from the old position.

is there any way I can stop the planning, or just generating the joint angle from the position so I can start with the current position and then add the difference.

I've been thinking about using IK_service but I am not sure if it will be fast enough to do visual servo.

If you use setFromIK you can directly use the robot controller (send the value using joint_state/command) and avoid usin

Here is what I do, following the advice of @v4hn by using Kinematic Model I manage to load the model and then compute t

Here is what I do, following the advice of @v4hn bu using Kinematic Model I manage to load the model and compute the IK

thank you guys for your advice. So far I am trying to use IK_service to do the job. @gvdhoom I will appreciate if you c

The issue I have is I am not able to generate the IK for my arm which is 7DOF. I've been trying to generate it using IKf

moveit visual servoing I've been working with moveit for the past two weeks. However, I am trying to do visual servoing

moveit visual servoing I've been working with moveit for the past two weeks. However, I am trying to do visual servoing

moveit visual servoing I've been working with moveit for the past two weeks. However, I am trying to do visual servoing

hello,

I have the same issue did you manage to solve it??

Hello,

I am working on PhantomX Reactor Robot Arm which is 5 dof and using dynamixel motors. I am trying to control the arm using moveit. However I have a problem when I try to run joint with dual motor I get this error appeare in the shell with controller_manager

    [ERROR] [WallTime: 1469691515.740486] Exception in your execute callback: JointPositionControllerDual instance has no attribute 'motor_id'
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/python2.7/dist-packages/actionlib/simple_action_server.py", line 291, in executeLoop
    self.execute_callback(goal)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_controllers/joint_trajectory_action_controller.py", line 142, in process_follow_trajectory
    self.process_trajectory(goal.trajectory)
  File "/opt/ros/indigo/lib/python2.7/dist-packages/dynamixel_controllers/joint_trajectory_action_controller.py", line 257, in process_trajectory
    motor_id = self.joint_to_controller[joint].motor_id
AttributeError: JointPositionControllerDual instance has no attribute 'motor_id'

I try to run the arm with a single motor and it working fine just I got this problem when I run dual motors joints.

this is the controller manager

<launch>
  <node name="fda_controller_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen">
    <rosparam>
        namespace: fda_manager
        serial_ports:
            port_0:
                port_name: "/dev/ttyUSB0"
                baud_rate: 1000000
                min_motor_id: 1
                max_motor_id: 25
                update_rate: 20
    </rosparam>
  </node>
</launch>

and this is my start_controller

<launch>
  <rosparam file="$(find fda_controllers)/config/fda_controller.yaml" command="load"/>
  <node name="fda_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
        args="--manager=fda_manager
              --port port_0
              --type=simple
        joint1_position_controller
                joint2_position_controller      
        joint3_position_controller
        joint4_position_controller
        joint5_position_controller"
        output="screen"/>


  <node name="fda_action_controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
        args="--manager=fda_manager
              --type=meta
                fda_joint_trajectory_action_controller
        joint1_position_controller
                joint2_position_controller      
        joint3_position_controller
        joint4_position_controller
        joint5_position_controller"
        output="screen"/>
</launch>

this is may script

#!/usr/bin/env python
import roslib
roslib.load_manifest('fda_controllers')

import rospy
import actionlib
from std_msgs.msg import Float64
import trajectory_msgs.msg 
import control_msgs.msg  
from trajectory_msgs.msg import JointTrajectoryPoint
from control_msgs.msg import JointTrajectoryAction, JointTrajectoryGoal, FollowJointTrajectoryAction, FollowJointTrajectoryGoal



class Joint:
        def __init__(self, motor_name):
            #arm_name should be b_arm or f_arm
            self.name = motor_name           
            self.jta = actionlib.SimpleActionClient('fda_joint_trajectory_action_controller', FollowJointTrajectoryAction)
            rospy.loginfo('Waiting for joint trajectory action')
            self.jta.wait_for_server()
            rospy.loginfo('Found joint trajectory action!')


        def move_joint(self, angles):
            goal = FollowJointTrajectoryGoal()                  
            char = self.name[0] #either 'f' or 'b'
            goal.trajectory.joint_names = [char+'_joint',char+'_joint',char+'_joint',char+'_joint',char+'_joint']
            point = JointTrajectoryPoint()
            point.positions = angles
            point.time_from_start = rospy.Duration(6)                   
            goal.trajectory.points.append(point)
            self.jta.send_goal_and_wait(goal)


def main():
            arm = Joint('f_arm')
            arm.move_joint([0.5,1.5,1.0])
            arm.move_joint([6.28,3.14,6.28])


if __name__ == '__main__':
      rospy.init_node('joint_position_tester')
      main()

Thank you