zakizadeh's profile - activity

hi . i need answer to complete my Master's thesis. i want plot position and velocity of end effector that have fixed joint using rqt. How to plot position(x y z) and velocity of fixed frames(end-effector) in rqt ?? can you write a very very very simple examlpe for that ?? like two link and one joint arm . and plot position(x y z) of second link in rqt ??

hi. I want plot position (x y z) for camera and second link for RRRBot robot.

NEngelhard told me: " you need to use a tf listener to get the pose and republish these values so that rqt_plot is able to plot them. "

but I do not know what to do. can any body write tf listener for RRRBot robot ??

hi . i want to plot position x of /my_robot/pose topic, which is a type of geometry_msgs/Pose message. This can be plotted by /your_robot/pose/position/x. in this page say :

step one -- >> geometry_msgs/Pose contains a member position. Look into its definition by clicking the link at geometry_msgs/Point in the api page. step two -->> You see x as a member of geometry_msgs/Point.

how can i doing step one ?? where is a api page ?? how can i write geometry_msgs/Poin for links ?? i want ploot pose of link in rqt like this : /your_robot/pose/position/x

i want using arduino for control dc motor . What steps are needed ?? what change i need to use codes in ROS by Example Vol2 book . i want using arduino inestead arbotix controller to send command to DC motors. in book used arbotix package . like this example(please look at line 14) . i have to change this package??

hi ! i need example for jacobian matrix in ikfast and ROS jade. i need example like this page for in ikfast ? : link text

how publish pose topic for rrrbot ? i cant undrstand this page turtle1

hi . i cant load my robot urdf in RViz. i run launch file : roslaunch wrist display.launch

my display.launch is :

 <launch>
 <param name="robot_description" textfile="$(find wrist)/urdf/wrist.urdf" /> 
</launch>

then i run :

rosrun rviz rviz

when i add robotstate in RViz i have this error : how can i fix that ??? please help me .

  [ERROR] [1480582359.533241630]: Could not load model 'file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/m2_1.stl' for link 'm2_1': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/m2_1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1480582359.533368375]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/m2_1.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp

it is my urdf file :

    <?xml version="1.0"?>
<robot name="wrist">
  <link name="base_link">
    <inertial>
      <origin xyz="-0.0155222222222222 0.0506514619883041 -0.0711837607475986" rpy="0 0 0" />
      <mass value="0.161357633901786" />
      <inertia ixx="0" ixy="0" ixz="0" iyy="0"  iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/base_link.stl" />
      </geometry>
      <material  name="">
        <color  rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>

        <mesh filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/base_link.stl" />
      </geometry>
    </collision>
  </link>
  <link name="m2_1">
    <inertial>
      <origin xyz="1.73472347597681E-18 3.46944695195361E-18 -0.0748894348894349" rpy="0 0 0" />
      <mass value="0.0767176926006627" />
      <inertia  ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh  filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/m2_1.stl" />
      </geometry>
      <material  name="">
        <color rgba="0.941176470588235 0.674509803921569 0.117647058823529 1" />
      </material>
    </visual>
    <collision>
      <origin  xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="file:///home/zakizadeh/catkin_ws3/src/wrist/meshes/m2_1.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="m2_1"  type="continuous">
    <origin xyz="-0.0155222222222222 0.0225000000000004 0.0416514619883041" rpy="3.14159265358979 0 0" />
    <parent link="base_link" />
    <child link="m2_1" />
    <axis xyz="0 0 -1" />
  </joint>
</robot>

hi . how can i control robot via Jacobian inverse ?

when i run :
roslaunch rbx2_bringup pi_robot_with_gripper.launch sim:=true

i have this error : ERROR: cannot launch node of type [arbotix_python/arbotix_driver]: arbotix_python ROS path [0]=/opt/ros/jade/share/ros ROS path [1]=/home/zakizadeh/catkin_ws/src ROS path [2]=/opt/ros/jade/share ROS path [3]=/opt/ros/jade/stacks ERROR: cannot launch node of type [arbotix_controllers/gripper_controller]: arbotix_controllers

please help me . how can i fix that ?

hi ! i have to run two launch file before run rviz in launch code. i wrote this code :

<param name="rbx2_bringup" command="$(find xacro)/xacro.py '$(find rbx2_bringup)/launch/pi_robot_with_gripper.launch'" />  
<param name="pi_robot_moveit_config" command="$(find xacro)/xacro.py '$(find pi_robot_moveit_config)/launch/move_group.launch'" />  
 <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find rbx2_arm_nav)/config/arm_paths.rviz"/>

please edit code for me and write correct code. thank you !

hi . in rqt_plot => /joint_states/position[5]

The x-axis is time in seconds and the y-axis reflects joint position in radians . but what is a y-axis in /joint_states/velocity[5] in rqt_plot ?