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2017-02-21 04:45:02 -0500 | commented answer | Sourcing from multiple workspaces Will this work if I have one workspace that I built with catkin_make and the other one (the ~/ROS/ one) with catkin build? |
2017-02-21 03:03:20 -0500 | asked a question | Create SRDF in VM without OpenGL Hello I am trying to create a whole robot description (URDF + SRDF) in Virtual Box 5.1 and Ubuntu 14.04 and Ros Indigo Unfortunately I run into two problems: If I have 3D acceleration activated the moveit_setup_assistant crashes on loading any urdf with this Error: I tried purging and reinstalling drivers on both my host and guest system. The same problem occurs with RViz. If I disable 3D acceleration I get a login Loop, but even if I manage to login with a simpler dm than lightdm the setup_assistant crashes as soon as I load the urdf. Even though it would be perfect to solve this problem I have pretty much given up trying to run OpenGL things in the VM. The thing is: I dont really need OpenGL except when using the moveit_setup_assistant to create the SRDF. (It has this robot preview on the right side) My question is: Is there another way of creating my SRDF in a similar manner as with the moveit_setup_assistant but without the dependency on OpenGL? Or could someone help me with removing the rviz part from the setup assistant GUI and then building from source? (I know I could install on a dedicated machine, but that is not an option unfortunately) Thank you in advance! Update: I tried editing the source code found here and to just comment out the few lines, where .show() is called for the rviz widget. Unfortunately that did not help :( |
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2016-12-19 03:36:42 -0500 | asked a question | How to use python_orocos_kdl Hello everyone, my goal is to perform forward kinematics on a big amount of states. Thank you! |
2016-12-19 02:57:34 -0500 | commented answer | Best way to get FK for many different joint-states Is there a good way to access it via python? Using a service would probably mean a lot of overhead again... |
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2016-12-16 03:35:37 -0500 | commented answer | Best way to get FK for many different joint-states pykdl_kinematics looks very promising! Thanks :) IKFast would be faster, but I don't really know how to communicate with it at a high rate without running into the issue with ros topics mentioned above. Or what would I have to do to actually get from my joint states and URDF to the pose with IKFast? |
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2016-12-15 10:59:15 -0500 | asked a question | Best way to get FK for many different joint-states Hello! I am trying to calculate the end-effector pose for a huge amount of different JointStates. The two ingredients to do that are my URDF and the numpy array that contains the joint angles. I am currently using ros indigo + moveit on a regular (but fairly fast) notebook. In my python script I use a joint_state_publisher to publish the JointState and the move_group API to get_current_pose(). Unfortunately this is very slow... If I don't wait long enough (around 0.1 s) between publishing and getting the pose, it will return the previous pose instead of using the new JointState. I am not sure if the problem is the JointState Message being delayed or if the call to the move_group and subsequently tf takes so long. My goal would be something between 1 kHz and a MHz. My two questions are:
Here is a simplified version of my code: Thank you very much! Edit: I have now started with using the package urdfdom_py to obtain my robot in the python Code. As a next step I would like to convert that to a KDL:Tree, so I can use python_orocos_kdl for my forward kinematics request. Unfortunately I can't find any info on how to do that or how the python_orocos_kdl API is supposed to work. Any help would be greatly appreciated |