Oh233's profile - activity

I already can see octomap in rviz but the problem is the octomap is quite different from the real world kinect sees. I don't know why. Do I need to adjust any parameter for configuration file? Besides, the refresh rate is quite low. Anybody know how to change refresh rate of octomap? Thanks for any suggestion.

Dear all,

Instead of using freenect_launch package, I published all depth_image_proc required images and infos by myself and successfully generated pointcloud since I can echo specified topic and it did have response. The problem right now is when I want to use pointcloud to generate actomap in moveit, I assume since I lose the tf between pointcloud and world, the message will always drop. But because I don't know what frame name of pointcloud, I don't know what I should write down when I launch tf publisher. Any idea for how to get the frame name of my pointcloud? Thanks in advance for any help.

What I want to do basically is publishing depth_registred image on topic. I already have opencv depth and rgb images and the transformation between them. I wonder should I finish depth registration first and then use CvBridge to convert it to ros image msg or convert depth and rgb images to two ros image msgs and finish depth registration? I have tried the first way but I am stuck at the step of converting to ros image msg since I can't find specific encoding for RGBD image. Thanks in advance for any suggestion.

I add friction in the link element and gripper moves as I want.

I think I am close to success now. I implemented controller and it works fine. The only problem right now is the passive

According to the pic I posted, nonconcentric problem still exists. Is that because the origin of the joint coordinate is

I turned selfcollide into true and it works. What made me think that problem is not because of selfcollide is during fal

robot arm is broken link by link in gazebo Hi all, I have succeeded loading my designed robot arm in rviz and finished

Hi all,

I have succeeded loading my designed robot arm in rviz and finished planning and executing. Right now I want to use load kinect to get some simulated data for robot arm. Hence I am trying to load urdf file in gazebo. The problem is my robot arm is broken link by link. It seems joint element in urdf doesn't work. I followed the tutorial of urdf in gazebo and added friction and damping in the urdf. I am not sure where I got wrong. Thanks in advance for any suggestions.

Here is the pic that robot arm in the rviz

Here is the view that joint in gazebo:

Here is the pic of using simulation pause:

The pic of fixing exploding problem:

Here is the sample of urdf for the robot arm:

<link
name="base_link">
<inertial>
  <origin
    xyz="0.0321026763828113 2.50206915787532E-06 0.0657435992941309"
    rpy="0 0 0" />
  <mass
    value="1.10920648420033" />
  <inertia
    ixx="0.00147297997205269"
    ixy="5.79000298722719E-08"
    ixz="0.000465603614160418"
    iyy="0.00175551330106354"
    iyz="8.33670869119005E-08"
    izz="0.000282540363613262" />
</inertial>
<visual>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://finalarm_dualmotor/meshes/base_link.STL" />
  </geometry>
  <material
    name="">
    <color
      rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
  </material>
</visual>
<collision>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://finalarm_dualmotor/meshes/base_link.STL" />
  </geometry>
</collision>
</link>
 <link
name="link_2">
<inertial>
  <origin
    xyz="-0.109631651147839 0.00554931888805481 -0.00279543211641581"
    rpy="0 0 0" />
  <mass
    value="0.471538287399184" />
  <inertia
    ixx="0.000342180694725082"
    ixy="0.000123860746353015"
    ixz="-6.21619859185448E-05"
    iyy="0.000321444130264041"
    iyz="0.000137295563003535"
    izz="0.000525597338936957" />
</inertial>
<visual>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://finalarm_dualmotor/meshes/link_2.STL" />
  </geometry>
  <material
    name="">
    <color
      rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
  </material>
</visual>
<collision>
  <origin
    xyz="0 0 0"
    rpy="0 0 0" />
  <geometry>
    <mesh
      filename="package://finalarm_dualmotor/meshes/link_2.STL" />
  </geometry>
</collision>
</link>

 <joint
name="joint_1"
type="revolute">
<origin
  xyz="0.0672 0 0.058"
  rpy="0.46565 1.5708 0" />
<parent
  link="base_link" />
<child
  link="link_2" />
<axis
  xyz="-1 0 0" />
<limit
  lower="-3.14"
  upper="3.14"
  effort="6"
  velocity="2.0" />
<dynamics damping="0.7"/>
</joint>