Pulkit123's profile - activity

Hi
I am working on ROS Kinetic with Ubuntu 16.04. I am simulating my robot with gazebo and ros-control however the terminal always shows this warning ::

process[coro/joint_controller_spawner-1]: started with pid [21948]

process[robot_state_publisher-2]: started with pid [21949] Loaded

joint_state_controller Started ['joint_state_controller'] successfully

[coro/joint_controller_spawner-1] process has finished cleanly log file: /home/bhoot/.ros/log/54979f64-835c-11e8-8840-a08cfdeabd87/coro-joint_controller_spawner-1*.log

1531129330.670413 seconds old.

[ WARN] [1531129358.795952825]: Received JointState is 1531129333.605810 seconds old.

[ WARN] [1531129368.805861605]: Received JointState is 1531129336.583829 seconds old.

[ WARN] [1531129378.812465284]: Received JointState is 1531129339.550438 seconds old.

[ WARN] [1531129388.815334092]: Received JointState is 1531129342.521295 seconds old.

My yaml files and launch files are attached :

C:\fakepath\Selection_034.png

C:\fakepath\Selection_035.png

C:\fakepath\Selection_036.png

C:\fakepath\Selection_037.png

I tried changing the rate of jpint values publisher, but no use. Any idea what I am missing ??

Hi

I am using ROS Kinetic with Ubuntu 16.04. I tried the moveit tutorials given here with my own 7 dof manipulator. After getting the collision object in the environment, I tried some random pose planning through Rviz gui and in one of the plans the robot is shown colliding with the collision object. I am posting the pic hereCan someone tell me why it is happening ??

Hi, is there any kind of update regarding this?? I am also trying to implement the same thing

you can check here

I tried it, but still robot does collide with the object and this time I deliberately made it to collide with the collis

Try changing 'Project' to some another name and can you please show the CMakeLists.txt file for your project

Collision checking failed Hi I am using ROS Kinetic with Ubuntu 16.04. I tried the moveit tutorials given here with my

Collision checking failed Hi I am using ROS Kinetic with Ubuntu 16.04. I tried the moveit tutorials given here with my

I am using ROS-Indigo on Ubunu 14.04. While using MoveIt! with ros-controllers I wanted to capture the data published on coro/coro_arm_controller/state topic. However while the acceleration and effort fields, segmentation fault error is coming. Below is my code. Can anyone suggest me on what to do next ??

#include "ros/ros.h"
#include <control_msgs/JointTrajectoryControllerState.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <vector>

using namespace std;


void callback(const control_msgs::JointTrajectoryControllerState& traj)
{ trajectory_msgs::JointTrajectoryPoint desired, actual, error_;
  ros::Duration t; 
 actual.accelerations.resize(7);
 actual.effort.resize(7);
  for(int j=0; j<traj.joint_names.size();++j)
  { 
      // Desired
      desired.positions.push_back(traj.desired.positions[j]);
      desired.velocities.push_back(traj.desired.velocities[j]);
      desired.accelerations.push_back(traj.desired.accelerations[j]);
      desired.effort.push_back(traj.desired.accelerations[j]);

      actual.positions.push_back(traj.actual.positions[j]);
      actual.velocities.push_back(traj.actual.velocities[j]);
      //actual.accelerations.push_back(traj.actual.accelerations[j]);
      //actual.effort.push_back(traj.actual.accelerations[j]);

     error_.positions.push_back(traj.error.positions[j]);
     error_.velocities.push_back(traj.error.velocities[j]);
     //error_.accelerations.push_back(traj.error.accelerations[j]);
    //   error_.effort.push_back(traj.error.effort[j]);
  }

     for(int i= 0; i< traj.joint_names.size();++i) 
 {
  ROS_INFO_STREAM( "position  for joint["<< i << "] :"  << desired.positions[i]);
  ROS_INFO_STREAM( "velocity  for joint["<< i << "] :"  << desired.velocities[i]);
  ROS_INFO_STREAM( "acceleration  for joint["<< i << "] :"  << desired.accelerations[i]);
  ROS_INFO_STREAM( "effort for joint["<< i << "] :"  << desired.effort[i]);
 }
  ROS_INFO_STREAM( "time is :"  << t << "\n");
}

int main(int argc, char **argv)
{
   ros::init (argc, argv, "trajectory");
   ros::NodeHandle n;

   ros::Subscriber sub = n.subscribe("/zuti_bot/zuti_bot_arm_controller/state", 1000, callback);
   while(ros::ok())
   {
     ros::spinOnce();
   }


    return 0;

}

After many iterations I found that there is some problem while capturing the acceleration and effort value of the joints.

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Any updates on this one please ??

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