ManMan88's profile - activity

Maybe there's time difference between the computers? You should try running chrony server on one of them and use the oth

for example, look at the following command: rosrun gazebo_ros spawn_model -file rospack find MYROBOT_description/urdf/MY

for example, look at the following command: rosrun gazebo_ros spawn_model -file rospack find MYROBOT_description/urdf/MY

I increased the publish rate to 1000Hz and this error is gone, but now I get the original error again.

I just tried using tf static_transform_publisher. Now I get this error when base_link is the fixed frame Message remove

I added the rqt_tf_tree image. I did not use tf static_transform_publisher, I will try it, thanks.

tf works only in one way Using ROS kinetic on Ubuntu 16.04. I have a urdf description of an industrial robot which work

tf works only in one way Using ROS kinetic on Ubuntu 16.04. I have a urdf description of an industrial robot which work

I want to use the trajectory downloading method in order to send trajectory commands to my robot controller. As written below, the trajectory downloading method should use the Joint trajectory message (JOINT_TRAJ):

JOINT_TRAJ_PT = 11,  //Joint trajectory point message (typically for streaming)
JOINT_TRAJ = 12,      //Joint trajectory message (typically for trajectory downloading)

However, the JointTrajectoryDownloader class used in the generic_joint_downloader_node.cpp, has a method send_to_robot which converts each Joint trajectory point from the Joint trajectory array into a simple message and sends it (with type JOINT_TRAJ_PT = 11)

A piece of code from the send_to_robot method:

for (int i = 0; i < (int)points.size(); ++i)
  {
    ROS_DEBUG("Sending joints trajectory point[%d]", i);

    points[i].toTopic(msg);
    bool ptRslt = this->connection_->sendMsg(msg);
    if (ptRslt)
      ROS_DEBUG("Point[%d] sent to controller", i);
    else
      ROS_WARN("Failed sent joint point, skipping point");

    rslt &= ptRslt;
  }

So I don't understand how should I create a message handler for the JOINT_TRAJ type if what the server gets is only JOINT_TRAJ_PT messages.

An othere matter, this send_to_robot method adds a sequence to the first and last JOINT_TRAJ_PT messages so it would be possible to know where the path starts and where it ends:

 // The first and last points are assigned special sequence values
  points.begin()->setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
  points.back().setSequence(SpecialSeqValues::END_TRAJECTORY);

But I don't understand how could my massage handler know how to read this sequence from the sent ByteArray. this sequence is not included in one of the typical simple message types, so how could I know if the integer I'm bytes I'm reading are sequence or joint data?

I desperately need help here, thank you!

Anyway, the IK won't solve the issue I'm dealing with, which is how to alter the trajectory created by the controller -

Anyway, the IK won't solve the issue I'm dealing with, which is how to alter the trajectory created by the controller -

Anyway, the IK won't solve the issue I'm dealing which is how to alter the trajectory created by the controller - be car

clarification of PositionJointInterface mechanism Hi, I've tried using the kuka_experimental rsi hw interface and it wo

I'm trying to achieve Cartesian position control (KUKA knows how to handle it). I don't want IK because I have other cal

clarification of PositionJointInterface mechanism Hi, I've tried using the kuka_experimental rsi hw interface and it wo

clarification of PositionJointInterface mechanism Hi, I've tried using the kuka_experimental rsi hw interface and it wo

https://github.com/ros-industrial-consortium/descartes/issues/226

I also get the error: error: ‘logError’ was not declared in this scope. I switched logError with ROS_ERROR, and logInfor

I also get the error error: ‘logError’ was not declared in this scope I switched logError with ROS_ERROR, and logInform

I'm trying to simulate kuka kr10r1100 sixx in Gazebo - so far everything works great except that the robot spawns above the ground plane - i.e. it has an offset from the origin but only in the z axis (see the image below). Originally it would spawn and then slowly fall until hitting the ground. Then I set the base_link as fixed to the world frame (and also set it as static), so now it stays like that in the "air".

I'm using ROS kinetic on Ubuntu 16.04.4.

I took the kuka urdf file from the kuka_experimental repository I've checked that the STL files origin is where it supposed to be (by the way, the robot is located well in rviz (see below)). One more thing regarding rviz, it gives the following error for all the STL files:

The STL file 'package://kuka_kr10_support/meshes/kr10r1100sixx/visual/base.stl' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.

I followed these two tutorials: tutorial1 tutorial2 to update the urdf file to work with Gazebo. I added the transmissions (I don't see how this can affect my problem), I added this:

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/kr10r1100sixx</robotNamespace>
    </plugin>
  </gazebo>

and I added the gazebo colors (but the problem existed before the colors). I also added inertial properties to each link because without it Gazebo wouldn't accept the urdf file. Except these changes, I did not change anything.

Did someone encountered something similar and have some suggestions how to solve it?

Thanks!

Gazebo

rviz

Yeah, the reason for the slow falling is the same bug. Thanks! Although it doesn't answer the spawning in high z -> w

kuka kr10r1100 sixx "floats" above ground_plane in Gazebo I'm trying to simulate kuka kr10r1100 sixx in Gazebo - so far

EDIT

Perhaps I should make the question even broader: I have a simple motion controller which needs to receive positions and velocities every 4ms (it's firmware is written in c++). I want to use ROS (currently using kinetic) to plan some trajectory (complicated or simple), and feed it to the motion controller. The problem I'm facing now is that the generated trajectory is not smooth and is not ready to be fed as is to the motion controller. Should I use other motion planning tools? or should I use tools to smoothen the trajectory?

More deatails:

I think I understand all of the tool-chain of ROS-I, but I'm missing the part of motion planning. I saw some questions about it, but most of them are pretty old.

The ROS-I tutorials show two ways (in general) for motion planning. One is using MoveIt! and the other is using descartes (which is still experimental?).

I've tried using MoveIt!, however, I need to interpolate the generated trajectories in constant time gaps and feed that to my controller (I do it in the robot driver - not with ROS). The trajectory that MoveIt! generates is pretty awful. The acceleration profile is really bad, and it affects the velocity and position. for example: image. Anyway, as I understand, MoveIt! is good for complicated motion planning tasks, for example obstacle avoidance, but the paths that it generates are not smooth.

This question talks about interpolating, does the given answer is still valid? Someone wrote there that using ROS Industrial Trajectory Filter is the solution, but after reading about it and looking at the code, I don't think it solves the problem.

What I'm looking for, is a motion planning tool that is more suitable for basic industrial robotics motion planning that generates smooth reliable paths. Is descartes the tool I'm looking for?

Last question: I saw there are Inverse-Kinematics solvers (such as KDL, trac_IK) . Are they just used by the motion planners? Or do these packages also allow to make motion planning?

Thanks you

I saw this issue, and this issue I'm not sure if I fall to the same category and if this is fixed already

Motion planning for industrial robots EDIT Perhaps I should make the question even broader: I have a simple motion cont

Motion planning for industrial robots EDIT Perhaps I should make the question even broader: I have a simple motion cont

Motion planning for industrial robots The bottom line: What I'm looking for, is a motion planning tool that is more sui