Felix_N's profile - activity

Hello people,

I am currently programming a 6 DOF robotic arm using ros and moveit for the navigation. My goals are to send x,y,z coordinates as well as a fixed orientation of my gripper in order to succesfully grab certain objects.

Following the tutorial i can send x,y,z coordinates like this just fine:

geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = 1;
target_pose1.position.x = 0;
target_pose1.position.y = 0;
target_pose1.position.z = 0.55;
move_group.setPoseTarget(target_pose1);

Using this method, my end effector stays in its start orientation.

I can also send a effector orientation like this:

move_group.setRPYTarget(1,1,0);

However, now i the orientation changes to the given values but the x,y,z-coordinates seem rather random.

Using both commands in a row, the sedond one overwrites the first one, leading to an insufficient result.

Right now I am stuck messing around with quaternion transformation using the tf package not knowing whether this is is the right way at all. Seems like this package is unable to combine both position and orientation as well.

Does somebody know a way to send x,y,z-coordinates AND rpy-orientations (c++)?

Thank you in advance,

Felix

Sorry I can't help you but I'm currently tasked with a similar project. I shall control several DB42M03 Motors using the

Hello everyone,

I am currently trying to connect my arduino due to my pc in order to run my ROS package I wrote, which shall communicate with the arduino.

I can compile and upload my program via the GUI. To start the serial connection, I run:

rosrun rosserial_python serial_node.py /dev/ttyACM0

Which produces the output:

[INFO] [1499369503.299387]: ROS Serial Python Node
[INFO] [1499369503.305172]: Connecting to /dev/ttyACM0 at 57600 baud
[ERROR] [1499369520.430946]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

I don't really understand the message. I wrote all my nodes in ROS kinetic and also installed rosserial via:

sudo apt-get install ros-kinetic-rosserial-arduino
sudo apt-get install ros-kinetic-rosserial

just like it was done in the tutorial.

Why is the arduino assigned to a particular ROS version anyway? How can I set this to kinetic?

I am working on a virtual box with Ubuntu 16.04

Does somebody know how to solve that problem?

Thanks in advance,

Felix

It now works on an Arduino Mega 2650. Same settings, same code, works. It even got the same amount of pins available.

I know. But still i have no idea how to solve this.

Rosserial arduino connection error Hello everyone, I am currently trying to connect my arduino due to my pc in order to

Rosserial arduino connection error Hello everyone, I am currently trying to connect my arduino to my pc in order to run

You got it. I have a spinner everywhere else but forgot it at that point. Thanks.

Hi everyone,

I currently want to send a joint-space goal to my 6DOF arm. move_point is a pointer to my move_group. The command comes from a GUI I wrote and the callback looks like this:

void goal_joint_callback(mybot::joint_command msg){
     ROS_INFO("debug1");
     std::vector<double> joint_group_positions(6);
     joint_group_positions[0] = msg.joint1;  // radians
     joint_group_positions[1] = msg.joint2;
     joint_group_positions[2] = msg.joint3; 
     joint_group_positions[3] = msg.joint4; 
     joint_group_positions[4] = msg.joint5;
     joint_group_positions[5] = msg.joint6;
     ROS_INFO("debug2");
     move_point->setJointValueTarget(joint_group_positions);
     ROS_INFO("debug3");
     bool success = move_point->plan(*current_plan);
     ROS_INFO("debug4");
     ROS_INFO_NAMED("tutorial", "Visualizing plan 2 (joint space goal) %s", success ? "" : "FAILED");
 }

The goal gets visualized quite nice in rviz and until then everything looks ok.

In my output terminal I can see "debug 1,2,3" but not "debug 4": I am also unable to send additional goals after the first one. I cant really tell why, because the same lines of code (bool success = move_point->plan(*current_plan);) do work at another place with the cartesian path.

Thank you in advance,

Felix

Moveit gets stuck after planning Hi everyone, I currently want to send a joint-space goal to my 6DOF arm. move_point is