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2016-11-24 08:33:46 -0500	asked a question	Define correct move_group for using TracIK with python Hello, when I try to interact with a move_group via a python script called by a launch file, the default value for solve_type is used instead of the one defined in the kinematics.yaml. This is what my kinematics.yaml file looks like: `arm: kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin kinematics_solver_timeout: 0.005 solve_type: Manipulation1` When I start the robot system and moveit with a separate launch file, it seems to read the content of kinematics.yaml correctly: `PARAMETERS ... * /robot_description_kinematics/arm/kinematics_solver: trac_ik_kinematic... * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/arm/solve_type: Manipulation1 ...` This is my script: #!/usr/bin/env python # import libs # Initilaize moveit_commander.roscpp_initialize(sys.argv) robot = moveit_commander.RobotCommander() group = moveit_commander.MoveGroupCommander("arm") joint_pub_arm = rospy.Publisher('robot_arm/arm/joint_trajectory_controller/command',JointTrajectory , queue_size=1) joint_pub_base= rospy.Publisher('robot_arm/base/joint_trajectory_controller/command',JointTrajectory , queue_size=1) def callback(data_in): #generate pose ... plan1= group.plan(p.pose) msg = plan1.joint_trajectory comb_msg = split_msg_base_arm (msg) base_msg = comb_msg[0] arm_msg = comb_msg[1] joint_pub_arm.publish(arm_msg) joint_pub_base.publish(base_msg) # ============================================================================================ def listener(): rospy.init_node("touch_listener", anonymous=True) rospy.Subscriber("touchscreen", touchscreen_data, callback, queue_size=1) rospy.spin() if __name__ == "__main__": listener() This is my launch file: `<launch> <group ns ="move_group"> <rosparam command="load" file="$(find robotino_arm_6dof_moveit_config)/config/kinematics.yaml"/> </group> <node name="touch_listener" pkg="demo_1" type="fast_hack_touch_listener.py" respawn="false" output="screen"> </node> </launch>` When i try to launch it the following happens: started roslaunch server http://robotino:47211/ SUMMARY ======== PARAMETERS * /move_group/arm/kinematics_solver: trac_ik_kinematic... * /move_group/arm/kinematics_solver_timeout: 0.005 * /move_group/arm/solve_type: Manipulation1 * /rosdistro: indigo * /rosversion: 1.11.19 NODES / touch_listener (demo_1/fast_hack_touch_listener.py) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[touch_listener-1]: started with pid [8631] [ INFO] [1479996271.812067758]: Loading robot model 'robotino_arm_6dof'... [ INFO] [1479996272.162000297]: IK Using joint base_link -3.40282e+38 3.40282e+38 [ INFO] [1479996272.162113755]: IK Using joint link1 -1.8326 1.8326 [ INFO] [1479996272.162173560]: IK Using joint motor2 -2.44346 2.44346 [ INFO] [1479996272.162216309]: IK Using joint link3 -3.14159 3.14159 [ INFO] [1479996272.162276581]: IK Using joint link4 -3.14159 3.14159 [ INFO] [1479996272.162358474]: IK Using joint link5 -3.14159 3.14159 [ INFO] [1479996272.162430079]: Looking in private handle: /move_group_commander_wrappers_1479996271800514391 for param name: arm/position_only_ik [ INFO] [1479996272.163764172]: Looking in private handle: /move_group_commander_wrappers_1479996271800514391 for param name: arm/solve_type [ INFO] [1479996272.164922544]: Using solve type Speed [ INFO] [1479996273.084825013]: Ready to take MoveGroup commands for group arm. A new move_group_commander_wrapper_* is created instead of using the existing move_group to get the parameter from. I guess that this is a wrong usage of the move_group python interface. How can I correct this? Thank you very much!
2016-10-25 08:57:36 -0500	asked a question	Generation of IKfast plugin for a 6DoF arm Hello, I am currently trying to generate a ikfast moveit plugin for a custom 6DoF arm. I was following the tutorial: http://docs.ros.org/indigo/api/moveit... As suggested in other questions, I wanted to start off with a well designed URDF-file to test my tool chain. I tried the abb repo from ros industrial ( https://github.com/ros-industrial/abb ). With these files, I tried to generate the IK solver - and this is where I am stuck at the moment. Here are the steps up to the error: Installed everything Checked the urdf with check_urdf irb2400.urdf `robot name is: abb_irb2400 ---------- Successfully Parsed XML --------------- root Link: base_link has 2 child(ren) child(1): base child(2): link_1 child(1): link_2 child(1): link_3 child(1): link_4 child(1): link_5 child(1): link_6 child(1): tool0` Converted the urdf to dae with: `rosrun collada_urdf urdf_to_collada irb2400.urdf irb2400.dae` Checked the structure: `openrave-robot.py irb2400.dae --info links name index parents base_link 0 base 1 base_link link_1 2 base_link link_2 3 link_1 link_3 4 link_2 link_4 5 link_3 link_5 6 link_4 link_6 7 link_5 tool0 8 link_6 name index parents` Tried to generate the IK solver python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=irb2400.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=result.h It fails with: Traceback (most recent call last): File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 9535, in <module> chaintree = solver.generateIkSolver(options.baselink,options.eelink,options.freeindices,solvefn=solvefn) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2287, in generateIkSolver chaintree = solvefn(self, LinksRaw, jointvars, isolvejointvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2882, in solveFullIK_6D tree = self.TestIntersectingAxes(solvejointvars,Links, LinksInv,endbranchtree) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 2970, in TestIntersectingAxes return self.solve6DIntersectingAxes(T0links,T1links,transvars,rotvars,solveRotationFirst=solveRotationFirst, endbranchtree=enbranchtree) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 3143, in solve6DIntersectingAxes transtree = self.SolveAllEquations(AllEquations,curvars=curvars,othersolvedvars=othersolvedvars[:],solsubs=solsubs,endbranchtee=newendbranchtree) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6861, in SolveAllEquations return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, curretcasesubs=currentcasesubs, unknownvars=unknownvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 7525, in AddSolution newtree = self.SolveAllEquations(NewEquationsClean,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=newcases, curretcasesubs=newcasesubs, unknownvars=unknownvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6861, in SolveAllEquations return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree,currentcases=currentcases, curretcasesubs=currentcasesubs, unknownvars=unknownvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6961, in AddSolution return [solution[0].subs(solsubs)]+self.SolveAllEquations(AllEquations,curvars=newvars,othersolvedvars=othersolvedvars+[var],olsubs=solsubs+self.Variable(var).subs,endbranchtree=endbranchtree,currentcases=currentcases, currentcasesubs=currentcasesubs, unnownvars=unknownvars) File "/usr/local/lib/python2.7/dist-packages/openravepy/_openravepy_/ikfast.py", line 6721, in SolveAllEquations return self.AddSolution(solutions,AllEquations,curvars,othersolvedvars,solsubs,endbranchtree ... (more)