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2016-12-07 08:52:43 -0600 asked a question Connect my youbot arm with the moveit simulation model in rviz

Hello,

i created the kuka youbot(arm only) simulation model with moveit. I can control the arm without any problems. In my next step i would like to connect the simulation model with the real youbot arm and let the arm move on command in my model.

I already found this: Implement Moveit on real Robot.

Can anybody tell me how the action server works and why i need that to control my actual arm?

How do i tell the controller of each joint to rotate like in my joint_states_topic?

Thanks!

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2016-12-01 10:26:09 -0600 asked a question Moveit Virtual Box crashes

Hey all,

I installed Ubuntu 14.04 and ROS Indigo on my Virtual Box. After starting the Moveit Setup Assistant and launching an URDF File, the Assistant crashes. I installed the Pr2 Demo Package and tried

roslaunch pr2_moveit_config demo.launch

but RVIZ crashes again with the error Code:

[rviz_muhi_VirtualBox_2662_3043522441594486229-6] process has died [pid 2723, exit code -11, cmd /opt/ros/indigo/lib/rviz/rviz -d /opt/ros/indigo/share/pr2_moveit_config/launch/moveit.rviz __name:=rviz_muhi_VirtualBox_2662_3043522441594486229 __log:=/home/muhi/.ros/log/f849d4d6-b7e0-11e6-a223-08002778ad04/rviz_muhi_VirtualBox_2662_3043522441594486229-6.log].

Do you have any ideas how i can fix this problem?

Thanks and greetings

muhi

2016-12-01 08:39:41 -0600 asked a question rviz_visual_tools indigo not defined.. publishpath or publishline

Hey all,

anyone here who worked with the rviz_visual_tools under indigo? How can i visualize a path of my waypoints of my computecartesianpath-function in rviz? the waypoints are defined as geometry_msgs/path and the publishpath-function of rviz_visual_tools only works with geometry_msgs/point. I tried something like:

namespace rvt  = rviz_visual_tools;
rviz_visual_tools::RvizVisualTools visual_tools("odom_combined");

std::vector<geometry_msgs::Pose> waypoints;
geometry_msgs::Pose target_pose3;
target_pose3.position.x=0.02;
target_pose3.position.y=0.12;
target_pose3.position.z=0.25;
target_pose3.orientation.x=0.75;
target_pose3.orientation.y=0.48;
target_pose3.orientation.z=-0.31;
target_pose3.orientation.w=0.32;
waypoints.push_back(target_pose3);

target_pose3.position.x=0.27;
target_pose3.position.y=-0.06;
target_pose3.position.z=0.18;
target_pose3.orientation.x=0.315;
target_pose3.orientation.y=0.902;
target_pose3.orientation.z=0.021;
target_pose3.orientation.w=0.29;
waypoints.push_back(target_pose3);

moveit_msgs::RobotTrajectory trajectory;
double fraction = group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory);
ROS_INFO("Visualize CartesianPath (%.2f%% acheived)",fraction*100);

geometry_msgs::Point path[waypoints.size()];
for(int i=0; i<waypoints.size(); i++)
{
path[i] = waypoints[i].position;
std::cout << "Point: " << path[i] << "\n";
}

visual_tools.deleteAllMarkers();
visual_tools.publishLine(path[0], path[1], rvt::RED, rvt::LARGE);

The Errorcode is: "Not defined reference"(translated it from german: Nicht definierter Verweis) for every function of the rviz_visual_tools. Do you have any suggestions?

Thank you!

ali

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2016-12-01 08:15:19 -0600 commented answer Convert geometry_ msgs/Pose to Point

thank you! That solved my problem!

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2016-11-30 05:46:30 -0600 asked a question Convert geometry_ msgs/Pose to Point

Hey all!,

i got a Posestd::vector<geometry_msgs::Pose> waypoints and now i would like to transform it to geometry_msgs::Point. I tried to convert it to Eigen and afterwards in Point. My first step would be something like:

std::vector<geometry_msgs::Pose> m;
m = waypoints;
Eigen::Affine3d e;
tf::poseMsgToEigen(m,e);

and i get an error: no matching function for call to poseMsgToEigen. Do you have any suggestions ?

Greetings mutu

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2016-11-28 03:55:40 -0600 commented question Using rviz_visual_tools no matching function

Hey Dave thank you for your answer. I specified the type of waypoints like below:

std::vector<geometry_msgs::Pose> waypoints;

and used the waypoints.push_back(target_pose3) function to write a pose in my waypoint. The computecartesianpath-function generates a trajectory. What is the issue then?

2016-11-24 05:09:40 -0600 asked a question Using rviz_visual_tools no matching function

Hello All!

Currently i try to implement the rviz_visual_tools in my youbot simulation model. I tried to use the computecartesianpath()-function in MoveIt! and wanted to use the publishpath-function of rviz_visual_tool afterwards to generate the path:

namespace rvt = rviz_visual_tools;
rviz_visual_tools::RvizVisualTools visual_tools("odom_combined");
...
...
double fraction = group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory);
...
visual_tools.deleteAllMarkers();
visual_tools.publishPath(waypoints, rvt::LIME_GREEN, rvt::LARGE);
for (std::size_t i=0; i<waypoints.size(); ++i)
{
visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rvt::SMALL);
}
visual_tools.trigger();
visual_tools.prompt("next step");

When i try to compile this, i get: error: no matching function for call to "rviz_visual_tools::RvizVisualTools::publishPath(....)

Can u help me to find a solution, please?

2016-11-22 05:38:32 -0600 answered a question Show Manipulation Trajectory in Rviz

Hey!

Thanks for your fast answer Dave, that helped me a lot. Currently i try to implement the rviz plugin in my simulation model. I tried to use the computecartesianpath()-function in MoveIt! and wanted to use the publishpath-function of rviz_visual_tool afterwards to generate the path:

namespace rvt = rviz_visual_tools;
rviz_visual_tools::RvizVisualTools visual_tools("odom_combined");
...
...
double fraction = group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory);
...
visual_tools.deleteAllMarkers();
visual_tools.publishPath(waypoints, rvt::LIME_GREEN, rvt::LARGE);
for (std::size_t i=0; i<waypoints.size(); ++i)
{
     visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rvt::SMALL);
}
visual_tools.trigger();
visual_tools.prompt("next step");

When i try to compile this, i get: error: no matching function for call to "rviz_visual_tools::RvizVisualTools::publishPath(....)

Can u help me to find a solution, please?

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2016-11-17 03:51:49 -0600 asked a question Show Manipulation Trajectory in Rviz

Hello!

I use MoveIt! to control a Kuka Youbot arm in Rviz. Apparently i used the computecartesianpath() to move the arm from point A to B. Afterwards i wanted to display the trajetory from A -> B and tried to use the Trajectory Addon in Rviz but it did not work. Do u have any ideas how i can, at least, prove that the youbot operates in a straight line? At least i know, that the computed cartesian path has 144 points and my terminal shows any jointangle for each point when i display the trajectory.


Edit: Hey!

Thanks for your fast answer Dave, that helped me a lot. Currently i try to implement the rviz plugin in my simulation model. I tried to use the computecartesianpath()-function in MoveIt! and wanted to use the publishpath-function of rviz_visual_tool afterwards to generate the path:

namespace rvt = rviz_visual_tools;
rviz_visual_tools::RvizVisualTools visual_tools("odom_combined");
...
...
double fraction = group.computeCartesianPath(waypoints, 0.01, 0.0, trajectory);
...
visual_tools.deleteAllMarkers();
visual_tools.publishPath(waypoints, rvt::LIME_GREEN, rvt::LARGE);
for (std::size_t i=0; i<waypoints.size(); ++i)
{
     visual_tools.publishAxisLabeled(waypoints[i], "pt" + std::to_string(i), rvt::SMALL);
}
visual_tools.trigger();
visual_tools.prompt("next step");

When i try to compile this, i get: error: no matching function for call to "rviz_visual_tools::RvizVisualTools::publishPath(....)

Can u help me to find a solution, please?

2016-11-17 03:47:07 -0600 asked a question Get Manipulation Trajectory in Rviz

Hello,

im using Moveit to control a kuka youbot arm in rviz. Apparently i used the computecartesianpath() to move the robot from A to B. Now i want to prove, that the robot moves, at least, in a straight line. I tried to use the trajectory Addon in Rviz, but it did not show anything. Have you guys any ideas to realize the Proof?

Thanks!