cvancleef's profile - activity

Stop the robot from moving I'm using the MoveGroupCommander class to move my robot around, like so: group.set_p

So it looks like there isn't a good way to go about doing this at the moment?

Stop the robot from moving I'm using the MoveGroupCommander class to move my robot around, like so: group.set_p

Stop the robot from moving I'm using the MoveGroupCommander class to move my robot around, like so: group.set_p

Could you try this after you initialize group? robot_state::RobotState start_state(*group.getCurrentState()); group.s

Could you try this after you initialize group? robot_state::RobotState start_state(*group.getCurrentState()); group.s

Could you try this after you initialize group? robot_state::RobotState start_state(*group.getCurrentState());

Could you try this after you initialize group? robot_state::RobotState start_state(*group.getCurrentState());

If you open MoveIt setup assistant and load in your robot, and go to virtual joints, do you have a joint connecting the

If you open MoveIt setup assistant and load in your robot, and go to virtual joints, do you have a joint connecting the

Ok, i'll make an issue. Also I couldn't select myself as the answer due to my low score, so I just went with yours. Ty f

This question is related to one I posted earlier: http://answers.ros.org/question/26513... . MoveIt! currently launches correctly with solve_type: Distance, which is the solve type I want. However, when I run a Python script to issue move commands, it still uses solve_type: Speed:

[ INFO] [1499261352.380466647]: Looking in private handle: /move_group_commander_wrappers_1499261351880510562 for param name: manipulator/position_only_ik
[ INFO] [1499261352.381577584]: Looking in private handle: /move_group_commander_wrappers_1499261351880510562 for param name: manipulator/solve_type
[ INFO] [1499261352.382617524]: Using solve type Speed

The code I use to set up my node comes from the tutorial: http://docs.ros.org/hydro/api/pr2_mov... .

How would I guarantee the solve_type used when running my code is the type I want? The first idea that comes to mind is changing where it looks for the parameter manipulator/solve_type, but I'm not sure how to do that.

Finally fixed this problem by editing the file roscpp_initializer.cpp (catkin_ws/src/moveit/moveit_ros/planning_interfac

I switched to using trac_ik for my kinematics plugin and set the solve type to distance. Here's my kinematics.yaml

manipulator:
  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
  solve_type: Distance
  kinematics_solver_search_resolution: 0.002
  kinematics_solver_timeout: 0.1
  kinematics_solver_attempts: 300

However, when I launch MoveIt I get the following messages:

[ INFO] [1498738699.604294668]: Looking in private handle: /move_group_commander_wrappers_1498738699102337314 for param name: manipulator/solve_type
[ INFO] [1498738699.605287670]: Using solve type Speed

Am I setting the solve type incorrectly for use in MoveIt?

EDIT: I added

 <group ns="move_group">
    <rosparam command="load" file="$(find PACKAGE_NAME)/config/kinematics.yaml"/>
  </group>

to the start of my move_group.launch file. MoveIt! now displays the correct solve type on launch, but when I run code to move my robot, the terminal running my code still says its using solve type Speed.

[ INFO] [1498748362.955713863]: Looking in private handle: /move_group_commander_wrappers_1498748362452794445 for param name: manipulator/position_only_ik
[ INFO] [1498748362.960244821]: Looking in private handle: /move_group_commander_wrappers_1498748362452794445 for param name: manipulator/solve_type
[ INFO] [1498748362.961557738]: Using solve type Speed

I have anonymous set to False now, but move_group_commander_wrapper still gets a different number every time I run my co

Using correct solve_type when running code This question is related to one I posted earlier: http://answers.ros.org/ques

I edited my question, do I need to change some other files to get this to work with my code?

I edited my question, do I need to change some other files to get this to work with my code?

Moveit! Using solve type speed instead of distance I switched to using trac_ik for my kinematics plugin and set the solv

I'm issuing my robot move commands in a way similar to this tutorial:

http://docs.ros.org/hydro/api/pr2_mov...

However, many of the plans it comes up with have unnecessary joint rotations. Is there to specify the maximum amount a joint can rotate for a planned path programmatically (ie no more than two full rotations or no more than 720 degrees movement in the joint during the plan execution)? If not, is there a way to set it manually?

Moveit! Using solve type speed instead of distance I switched to using trac_ik for my kinematics plugin and set the solv

For the URDF, would that be <limit>'s <upper> and <lower> tags? That seems like what I'm looking for,

For the URDF, would that be <limit>'s <upper> and <lower> tags? That seems like what I'm looking for,

I think its joint_6 of the lrmate200id rotating if that makes a difference. Also, in regards to the XY problem, I suppos

I think its joint_6 of the lrmate200id rotating if that makes a difference

For simple planned paths, the head of the robot will just keep rotating throughout the movement, where very little if an