jbeck28's profile - activity

I'm toying with the idea of a ceiling mounted robot arm, and I'm curious what the best way is to change the link to the world frame to represent this most accurately in RViz? I've read something about a top-level xacro file, so I can make changes to a robot model without changing the underlying URDF in the fanuc package I'm using. Any info on best practices for this, or how to get the robot to appear upside down, with its mount somewhere other than the origin of the world frame would be helpful,

Thanks, Josh

@Victor Wu I'm not well versed in how UR5Kinematics works, but KDLKinematics will not reliably give good paths. This is

Jerkiness When Executing MoveIt Plan After Trajectory Execution I have a program which executes long trajectories (on th

I've been trying to properly define my tool frame in ROS so that it matches the tool frame of the physical robot. Doing this requires changing the following lines of code in the URDF:

  <joint name="joint_6-tool0" type="fixed">
    <origin rpy="3.1415926535 -1.570796327 0" xyz="0 0 0"/>
    <!--<origin rpy="3.1415926535 -1.570796327 0" xyz="0 0 0"/> This was original, reinstating this allows MOVEIT to calculate paths....-->
    <parent link="link_6"/>
    <child link="tool0"/>
  </joint>

If I change the origin rpy in any way, it will no longer be able to find any valid states when I plan any orientation goal (even 1,0,0,0). Any help would be much appreciated.

Thanks, Josh

KDL and Moveit Return Different Jacobians I'm trying to compute the Jacobian matrix (as fast as possible), and would lik

ROS_ASSERT fails, ros parameter type invalid I've been trying to load yaml files to the parameter server and process the

Ah, I suppose that makes sense. I believe I only added ecl::geometry to my cmakelists and package.xml, though the code i

ecl::Array compilation error I'm trying to make use of the ecl::geometry package, and in doing so must use ecl::array as

Generate Velocity and Acceleration From Known TimeStamps I am currently trying to use toolpaths that were generated offl

ros_control individual joint trajectories for each controller? I'm using ros_control with moveit, and I'm not entirely c

I've been trying to get a fanuc lrmate200id to work go to a pose goal in Rviz through the move_group_interface. If I set a simple position goal using move_group.setPositionTarget(x,y,z,"tool0"), moveit is able to plan a path. However, if I use either setOrientationTarget, or setPoseTarget, moveit is never able to figure out a path. The block of code I've borrowed/modified is below:

int main(int argc, char **argv)
{
  ros::init(argc, argv, "move_group_interface_tutorial");
  ros::NodeHandle node_handle;  
  ros::AsyncSpinner spinner(1);
  spinner.start();

static const std::string PLANNING_GROUP = "manipulator";
  moveit::planning_interface::MoveGroup move_group(PLANNING_GROUP);

 moveit::planning_interface::PlanningSceneInterface planning_scene_interface;  

const robot_state::JointModelGroup *joint_model_group = move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);

namespace rvt = rviz_visual_tools;
moveit_visual_tools::MoveItVisualTools visual_tools("odom_combined");
visual_tools.deleteAllMarkers();


 ros::Publisher display_publisher = node_handle.advertise<moveit_msgs::DisplayTrajectory>("/move_group/display_planned_path", 1, true);
  moveit_msgs::DisplayTrajectory display_trajectory;

visual_tools.loadRemoteControl();


  ROS_INFO("Reference frame: %s", move_group.getPlanningFrame().c_str());
  ROS_INFO("Reference frame: %s", move_group.getEndEffectorLink().c_str());

move_group.setPlanningTime(60*5);
move_group.setGoalTolerance(.001);

const float theta = 10*3.1416/180.0;
double x1 = .5, x2 = 0, x3 = 0;
geometry_msgs::Pose target_pose1;
  target_pose1.orientation.w = 1;
  target_pose1.position.x = x1*sin(theta/2);
  target_pose1.position.y = x2*sin(theta/2);
  target_pose1.position.z = x3*sin(theta/2);

  //move_group.setPositionTarget(x1,x2,x3,"tool0");
  //move_group.setRPYTarget(0,0,0,"tool0");
  //move_group.setOrientationTarget(x1,x2,x3,1,"tool0");
  move_group.setPoseTarget(target_pose1,"tool0");
moveit::planning_interface::MoveGroup::Plan my_plan;
  bool success = move_group.plan(my_plan);

  ROS_INFO("Visualizing plan 1 (pose goal) %s",success?"":"FAILED");    
  /* Sleep to give Rviz time to visualize the plan. */
  sleep(5.0);


  ros::shutdown();  
  return 0;
}

any ideas on how to proceed would be most appreciated!

thanks, Josh

I looked into that nodelet, however I couldn't figure out how to use it as it's undocumented. I understand it's an actio

I believe I need multithreading help! Process has died [pid 31330, exit code -11... I've been trying to make use of rosb