motoman's profile - activity

yes ! I installed ROS using apt-get and also the moveit setup assistant using apt-get

On launching move it setup assistant, I get an error message saying that the process has died. I have used

sudo apt-get install ros-indigo-moveit

source /opt/ros/indigo/setup.bash

to install and setup the environment. I have also used sudo apt-get update, unfortunately the error persists

amrith@amrith-ThinkPad-T420:~$ roslaunch moveit_setup_assistant setup_assistant.launch 
... logging to /home/amrith/.ros/log/273d2cf4-e20f-11e6-9bc2-0021cc4b3caa/roslaunch-amrith-ThinkPad-T420-6923.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://amrith-ThinkPad-T420:46293/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
    moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

auto-starting new master
process[master]: started with pid [6935]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 273d2cf4-e20f-11e6-9bc2-0021cc4b3caa
process[rosout-1]: started with pid [6948]
started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [6951]
/opt/ros/indigo/lib/moveit_setup_assistant/moveit_setup_assistant: error while loading shared libraries: libmoveit_robot_state_rviz_plugin_core.so.0.7.3: cannot open shared object file: No such file or directory
================================================================================REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 6951, exit code 127, cmd /opt/ros/indigo/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/amrith/.ros/log/273d2cf4-e20f-11e6-9bc2-0021cc4b3caa/moveit_setup_assistant-2.log].
log file: /home/amrith/.ros/log/273d2cf4-e20f-11e6-9bc2-0021cc4b3caa/moveit_setup_assistant-2*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Understood:) I am working on URDF but havent been able to find technical drawings for the CSDA10F , i have also contacted techsupport and no reply yet. I have posted it as an issue in the motoman_experimental repository

On running $ roslaunch motoman_sda10f_moveit_config moveit_planning_execution.launch sim:=true

I get the errors that group torso,arms are not in chain and also a fatal error loading controller manager

Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Rviz opens up and I am able to plan, but on running $ rostopic echo joint_states

there seems to be no change in the position or velocity, eventhough the robot plans and executes

I have decided to change the axis b and axis t stl files in the URDF of the motoman SDA10 f with meshes from the CSDA10F. Apart from them , I dont see much of a change that would affect kinematics of the robot . Suggestions?

Just to double check, from what I see, I guess the indigo branch has the best support for the SDA10f. So I will go ahead using ROS Indigo?

Yes I will for sure. I will also add the URDF on the above mentioned repository when I am done with it.

Thanks a ton guys .

Thank you, I will do that. I only see small 2cm changes in links of the arms, I will redo them. One last silly question, here I only have access to 32 bit Ubuntu 14.04.5 LTS on a Virtual Machine. Is that acceptable or are there a few things i should be wary of? Thanks a lot for your quick responses

From what I have noticed apart from the difference in the coatings for the clean room application, there doesnt seem to be much of a difference. In that case can I just use the URDF and move it package form the SDA 10F?I have also contacted techsupport for the MotoROS software package. Thanks a ton

The yaskawa CSDA 10F(dual arm robot) looks very similar to the Motoman SDA 10F. They also use the same controller FS100. I would like to know if I can integrate ROS with it? If so can I use the motoman_driver for the integration. and how do I go about it ?

The yaskawa CSDA 10F(dual arm robot) looks very similar to the Motoman SDA 10F. They also use the same controller FS100. I would like to know if I can integrate ROS with it? If so can I use the motoman_driver for the integration