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2021-08-29 08:14:52 -0500 received badge  Taxonomist
2021-07-06 06:41:01 -0500 marked best answer Change Planner in MoveIt Python

Hey guys, i want to change the default motion planner from OMPL in MoveIt to "PRMkConfigDefault". But how can i change for example the planner for planning my group: group = MoveGroupCommander("manipulator") in Python? Thanks for your answers! Im running ROS Indigo on Ubuntu 14.04.

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2018-09-14 17:33:34 -0500 marked best answer Display MoveIt Collison Objects in Gazebo

How can i display collision objects i added to my MoveIt planning scene in Gazebo? I added them like:

# publish a demo scene
scene = PlanningSceneInterface()
p = PoseStamped()
p.header.frame_id = robot.get_planning_frame()

# add a box
p.pose.position.x = 0.7
p.pose.position.y = -0.08
p.pose.position.z = 0.1
scene.add_box("box", p, (0.15, 0.15, 0.15))

They are all diplayed well in MoveIt but not in Gazebo right now. The robot is displayed in gazebo as well. Im running ROS Indigo on Ubuntu 14.04.

Thanks for your support!

2018-07-09 03:18:41 -0500 marked best answer Define Startup State in MoveIt

Hey guys,

i want to declare the startup state of my UR5 Robot for motion planning in MoveIt (using a Python script). Every time i launch the demo file in RViz, the robot is lying flat on the ground (all joint states are zero). How can i define the start pose of the robot? I already declared the following:

moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('ur_arm')
pub_pos = rospy.Publisher('arm_pos', Pose, queue_size=10)    

scene = PlanningSceneInterface()
robot = RobotCommander()
group = MoveGroupCommander("manipulator")

Thanks for your support. Im running ROS Indigo on Ubuntu 14.04

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2017-06-09 02:54:15 -0500 edited question Benchmarking Documentation

Benchmarking Documentation Hey guys, i got the results of my benchmarking tests and already plotted the pdf data follow

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2017-03-29 07:49:18 -0500 asked a question Benchmarking Documentation

Hey guys,

i got the results of my benchmarking tests and already plotted the pdf data following this tutorial. Is there any documentation what all those evaluation categories mean? E.g. how is path interpolate smoothness defined? An how can i interpret the scale? Moreover the names of the planners are cut of because they were too long. So every planner-name looks exactly the same on the axis labeling, because they all end on "...kConfigDefault". Are there any options to rename the planners for the pdf plot? I got the idea to upload the .db file to plannerarena.org for better plots, but it occured an error with the .db file.

Any suggestions?

Im running ROS Indigo on Ubunutu 14.04.

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2017-03-28 06:31:57 -0500 commented question Moveit Benchmarking cant plot PDF

No there are no NaN or Inf in the results. I have added the .log file above.

2017-03-28 04:46:26 -0500 asked a question Moveit Benchmarking cant plot PDF

Hey guys,

i did benchmarking with moveit already some times and it always worked well. I get a perfect .log file which i converted sometimes into a pdf. After a few runs, i get the .log file but cant convert it into a pdf anymore. I used the same code all the time and only changed the planners to benchmark.

When i now run

rosrun moveit_ros_benchmarks moveit_benchmark_statistics.py -d benchmark.db catkin_ws/src/mrk_gazebo_hofmann/launch/result.log.1.log -p ur5_benchmarking.pdf

i get an error message:

Generating plot...
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/moveit_ros_benchmarks/moveit_benchmark_statistics.py", line 432, in <module>
    plot_statistics(options.dbname, options.plot)
  File "/opt/ros/indigo/lib/moveit_ros_benchmarks/moveit_benchmark_statistics.py", line 236, in plot_statistics
    pp.savefig(plt.gcf())
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 2303, in savefig
    figure.savefig(self, format='pdf', **kwargs)
  File "/usr/lib/pymodules/python2.7/matplotlib/figure.py", line 1421, in savefig
    self.canvas.print_figure(*args, **kwargs)
  File "/usr/lib/pymodules/python2.7/matplotlib/backend_bases.py", line 2220, in print_figure
    **kwargs)
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 2352, in print_pdf
    self.figure.draw(renderer)
  File "/usr/lib/pymodules/python2.7/matplotlib/artist.py", line 55, in draw_wrapper
    draw(artist, renderer, *args, **kwargs)
  File "/usr/lib/pymodules/python2.7/matplotlib/figure.py", line 1034, in draw
    func(*args)
  File "/usr/lib/pymodules/python2.7/matplotlib/artist.py", line 55, in draw_wrapper
    draw(artist, renderer, *args, **kwargs)
  File "/usr/lib/pymodules/python2.7/matplotlib/axes.py", line 2086, in draw
    a.draw(renderer)
  File "/usr/lib/pymodules/python2.7/matplotlib/artist.py", line 55, in draw_wrapper
    draw(artist, renderer, *args, **kwargs)
  File "/usr/lib/pymodules/python2.7/matplotlib/text.py", line 598, in draw
    ismath=ismath, mtext=self)
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 1943, in draw_text
    return draw_text_simple()
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 1875, in draw_text_simple
    self._setup_textpos(x, y, angle)
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 1644, in _setup_textpos
    self.file.output(x - oldx, y - oldy, Op.textpos)
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 548, in output
    self.write(fill(map(pdfRepr, data)))
  File "/usr/lib/pymodules/python2.7/matplotlib/backends/backend_pdf.py", line 144, in pdfRepr
    raise ValueError("Can only output finite numbers in PDF")
ValueError: Can only output finite numbers in PDF

i cant find a solution for this problem, because it already worked before. Maybe someone of you can help. Im running ROS Indigo on Ubuntu 14.04.

Edit: When i run the same planners which worked before, i get the same error. This is the .log File:

Experiment UR5
Running on Donnas
Starting at 2017-03-28T11:29:29.263611
Goal name q_ur5
5 seconds per run
14.5057 seconds spent to collect the data
2 planners
OMPL_KPIECEkConfigDefault
0 common properties
18 properties for each run
path_interpolate_clearance REAL
path_interpolate_correct BOOLEAN
path_interpolate_length REAL
path_interpolate_smoothness REAL ...
(more)
2017-03-27 07:26:23 -0500 asked a question Moveit Benchmarking Problem

Hey guys,

i try to do benchmarking with MoveIt but im quite confused now. Im running ROS Indigo on Ubuntu 14.04. The moveit tutorial says, this is some outdated documentation for Indigo, but one sentence later, it is said, that this only works on ROS Kinetic and onward. Is there any other tutorial for benchmarking for ROS Indigo? Or is it even possible on Indigo?

Thanks for your support!

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2017-03-27 05:02:16 -0500 asked a question MoveIt Benchmarking Config-File Location

Hey guys,

im trying to do benchmarking with moveit following this tutorial. Im using the UR5 robot package. I have created a .cfg file but when i try to run roslaunch ur5_moveit_config run_benchmark_ompl.launch cfg:=config1.cfg (config1.cfg is the name of my config file) i get an error: Unable to open file 'config1.cfg.

Where is the correct path to put this file in? Do i have to add the path where the file is located to the launch file? At the moment only the argument cfg is specified. If yes, how can i do this?

  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
  <arg name="cfg" />

(This is just the part of the launch file, where cfg is specified)

Im running ROS Indigo on Ubuntu 14.04.

Thanks for your support!

2017-03-20 04:07:01 -0500 asked a question MoveIt OMPL planner parameters

Hey guys,

im doing motion planning with moveit, but the output trajectories of my robot look kind of weird sometimes. Therefore i want to set some parameters of the planners i use. I know that some of them like range are found in ompl_planning.yaml but are there some other options except those standards? Im looking especially for something like: the planner should look for the shortest path, or how to define the minimum distance the robot should keep from the obstacle.

Any suggestions on how to do that? Im running ROS Indigo on Ubuntu 14.04.

Thanks for your support!

2017-03-20 03:55:37 -0500 asked a question Define projection for MoveIt planner

Hey guys,

i try to do motion planning with moveit, but every time i use a planner like KPIECE or SBL i get the following error:

[ERROR] [1489999876.642110297]: No default projection is set. Perhaps setup() needs to be called
[ERROR] [1489999876.642320847]: OMPL encountered an error: No projection evaluator specified

So how can i set an projection of my robot? Can i implement this to my Python script?

Im running ROS Indigo on Ubuntu 14.04. Thanks for your support!

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2017-03-14 07:12:49 -0500 edited question Link UR5 Robot and Robotiq 3 Finger Gripper

Hey guys, im not very experienced using ROS. I want to add a Robotiq 3 finger gripper on a UR5 robot and simulate both in Gazebo to control it using MoveIt. I got the packages for the gripper link text and for the robot link text but how can i link them together? Im using Ros Indigo on Ubuntu 14.04. Thanks for your support!


Edit: Ok i tried this:

    <?xml version="1.0"?>
<robot name="ur5_gripper" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- include macros for M-10iA and the eef model -->
  <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro"/>
  <xacro:include filename="$(find robotiq_c2_model_visualization)/urdf/robotiq_c2_model_macro.xacro" />

  <!-- create the robot+eef combo itself as a macro -->
  <xacro:macro name="ur5_robotiq" params="prefix">

    <!-- instantiate M-10iA and eef model -->
    <xacro:ur5_robot        prefix="${prefix}" />
    <xacro:robotiq_c2_model prefix="${prefix}" />

    <!-- attach eef to M-10iA model -->
    <joint name="${prefix}tool0-eef_link" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0" />
      <parent link="${prefix}tool0" />
      <child link="${prefix}eef_link" />
    </joint>

  </xacro:macro>
</robot>

But when i try to create a new package using the moveit_setup_assistant the terminal calls:

[ INFO] [1489484583.186546879]: Running 'rosrun xacro xacro.py /home/mrk/catkin_ws/src/universal_robot-kinetic-devel/ur_description/urdf/ur5.gripper.xacro'...
[ERROR] [1489484583.574528731]: No link elements found in urdf file

The setup assistant reports an error: URDF/COLLADA file is not a valid robot model.

Edit: When i use ur_description/urdf/ur5_robot.urdf.xacro instead of ur_description/urdf/ur5.urdf.xacro the assistant loads some files but there is no gripper attached to the robot

Can someone help please? I use the files from the standard packages i mentioned before.

2017-03-14 07:06:21 -0500 commented question Link UR5 Robot and Robotiq 3 Finger Gripper

ur_description/urdf/ur5.gripper.xacro is the file i posted above. Thats the whole code. Whats missing then?

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