yangtfu's profile - activity

Hi, I am writing a service client to query the states of running controllers. But after calling a controller_manager_msgs::ListControllers service ,I cannot get a response.

ros::ServiceClient controller_client=nh.serviceClient<controller_manager_msgs::ListControllers>("/controller_manager/list_controllers");
controller_manager_msgs::ListControllers srv;
controller_client.call(srv);
std::cout<<"***************"<<std::endl;

typedef controller_manager_msgs::ControllerState cstate_t;
std::cout<<srv.response.controller.size()<<std::endl;

BOOST_FOREACH (const cstate_t& cs, srv.response.controller)
 {
   std::cout<<cs.type<<std::endl;
 }

I actually have three controllers loaded when I rosrun controller_manager controller_manager list

joint_vel_ctrl - hardware_interface::VelocityJointInterface ( stopped )
joint_state_controller - hardware_interface::JointStateInterface ( running )
arm_trajectory_controller - hardware_interface::VelocityJointInterface ( stopped )

The returned srv.response.controller.size() is 0. Please help me. Thanks!

Yeah, I misunderstood the concept, thank you!

Do you mean the quaternion vector including w should be normalized? I thought the axis vector of xyz should be a normalized vector which represents the rotation axis. What's the point of normalizing a quaternion vector.

Hi, I was planning a pose for a 5-dof manipulator tip with moveit kdl solver. The position of the pose is reached, but the orientation cannot be reached. And the following warning is shown every time:

[ INFO] [1488121271.999191010, 373.663000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1488121271.999485048, 373.663000000]: Orientation constraint for link 'tip' is probably incorrect: 0.000000, 0.000000, 1.000000, 0.500000. Assuming identity instead.
[ WARN] [1488121271.999603296, 373.663000000]: Orientation constraint for link 'tip' is probably incorrect: 0.000000, 0.000000, 1.000000, 0.500000. Assuming identity instead.
[ INFO] [1488121271.999718045, 373.663000000]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1488121271.999857147, 373.663000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1488121272.444189499, 374.101000000]: LBKPIECE1: Created 38 (20 start + 18 goal) states in 37 cells (19 start (19 on boundary) + 18 goal (18 on boundary))
[ INFO] [1488121272.444250950, 374.101000000]: Solution found in 0.444438 seconds
[ INFO] [1488121272.467475751, 374.124000000]: SimpleSetup: Path simplification took 0.000019 seconds and changed from 23 to 2 states
[ INFO] [1488121272.500154361, 374.156000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ WARN] [1488121272.500245398, 374.156000000]: Orientation constraint for link 'tip' is probably incorrect: 0.000000, 0.000000, 1.000000, 0.500000. Assuming identity instead.
[ INFO] [1488121272.500362095, 374.156000000]: Planning attempt 1 of at most 1
[ WARN] [1488121272.500788898, 374.157000000]: Orientation constraint for link 'tip' is probably incorrect: 0.000000, 0.000000, 1.000000, 0.500000. Assuming identity instead.
[ WARN] [1488121272.500939599, 374.157000000]: Orientation constraint for link 'tip' is probably incorrect: 0.000000, 0.000000, 1.000000, 0.500000. Assuming identity instead.
[ INFO] [1488121272.501062772, 374.157000000]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1488121272.501254698, 374.157000000]: LBKPIECE1: Starting planning with 1 states already in datastructure
[ INFO] [1488121273.689715240, 375.327000000]: LBKPIECE1: Created 75 (37 start + 38 goal) states in 74 cells (37 start (37 on boundary) + 37 goal (37 on boundary))
[ INFO] [1488121273.690050718, 375.327000000]: Solution found in 1.188844 seconds
[ INFO] [1488121273.700934373, 375.345000000]: SimpleSetup: Path simplification took 0.000024 seconds and changed from 66 to 2 states
[ WARN] [1488121273.702429142, 375.345000000]: Dropping first 1 trajectory point(s) out of 10, as they occur before the current time.
First valid point will be reached in 0.060s.

Does anybody have any idea what is wrong, please?

I have to install and compile all the ros packages I used with boost version 1.63, and it is totally OK. But the apt-get packages are built with version 1.54. Compiling my package with these packages is fine, but the exception above appears at runtime.