viovio's profile - activity

Hello to all

My actual gazebo-version (1.02) cant open any .urdf-file correctly. The terminal shows following:

Warning [parser.cc:348] Gazebo SDF has no gazebo element Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE On July 1st, 2012, this formate will no longer by supported Convert your files using the gzsdf command line tool You have been warned!

And the urdf object is not visible. So I guessed i have to install gazebo 1.2. By using

sudo apt-get install ros-fuerte-simulator_gazebo

the terminal shows:

E: Unable to locate package ros-fuerte-simulator_gazebo

How can I solve this problem?

Hello together,

is there any Motion Planing Library + Visualization-App for 6 axis robots out there in the Ros-Universe?

Thanks in advance Dominik

Hello to all

I builded a package of my Robot (Sträubli TX60L) with the "planning_description_configuration_wizard". Unfortunately the robotarm hits every obstacle on his trajectory (Whether "Planning Components Visualizer" (Obstacles = Poles) or Warehouse Viewer (Obstacles = Boxes)).

parameter dialog of the "warehouse viewer": (http://img198.imageshack.us/img198/7429/planningscenewarehousev.png)

Edit: A collsion-.stl-file: (https://www.rapidshare.com/#!download|539|1254634200|at5_col.stl|1)

Edit: my "Rviz" can only display binary .stl-files, but assimp can only display ASCII stl-files!

I think the problem is the prepended "solid" in my .stl-files like in this threat mentioned:(http://answers.ros.org/question/11569/planning_component_visualizer-bug/) So I also opened my .stl files with wordpad and changed the prepended "solid" to "robot". But now my rviz crashes like in the previous mentioned threat:

Solved: Finally ;) Many Thanks to all supportes, especially yangyangcv. The problem as suggested was the prepended "solid" in the binary .stl-files. It was a bug of pro-engineer. When exporting a non .stl file to a binary .stl pro/e put falsely this "solid" at the beginning, which actually introduces a ascii-.stl-file. Thats the reason why assimp cant open them. After importing and exporting my broken .stl files in Meshlab the solid was taken out and everything worked.

Many Thanks in advance Dominik

Hello,

I build up an .urdf-file which can be correctly loaded in rviz. The Geometry is defined by meshes. When I load it in Gazebo the Robot is invisible. The Terminal shows no failure-messages except the warning that urdf will not be any longer supported (this was discussed in a different threat and seems to be unimportant). I simplified my .urdf file to one link to exclude possible problems:

<robot name="TX60L">

  <link name="base_link" >

    <inertial>
      <origin xyz="2 0 0" /> 
      <mass value="1.0" />
      <inertia  ixx="1.0" ixy="0.0"  ixz="0.0"  iyy="100.0"  iyz="0.0"  izz="1.0" />
    </inertial>

    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
     <mesh filename="package://learning_urdf/meshes/tx60l/bt.stl" scale="0.001 0.001 0.001"/>
    </geometry>             
    </visual>

    <collision>
      <origin xyz="2 0 0"/>
      <geometry>
        <box size="1 1 2" />
      </geometry>
    </collision>
  </link>

  <gazebo reference="my_box">
    <material>Gazebo/Blue</material>
  </gazebo>

</robot>

The box-example from the gazebo-tutorial can be displayed correctly.

Any Suggestions how to get my model visible? Have I to deliver additional Informations?

Many Thanks in advance Dominik

Hello to all

the command:

faps@UbuntuBioMech:~/ros_workspace/beginner_tutorials$ make

occurs following failures:

    faps@UbuntuBioMech:~/ros_workspace/beginner_tutorials$ make
[  0%] Built target rospack_genmsg_libexe
[  0%] Built target rosbuild_premsgsrvgen
[  0%] Built target ROSBUILD_gensrv_lisp
[  0%] Built target ROSBUILD_gensrv_cpp
[  0%] Built target rospack_gensrv
[ 12%] Built target ROSBUILD_genmsg_lisp
[ 37%] Built target ROSBUILD_genmsg_py
[ 50%] Built target ROSBUILD_genmsg_cpp
[ 50%] Built target rospack_genmsg
[ 50%] Built target rosbuild_precompile
[ 62%] Building CXX object CMakeFiles/add_two_ints_client.dir/src/add_two_ints_client.o
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp: In function ‘int main(int, char**)’:
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:15:47: error: ‘beginner_tutorials’ was not declared in this scope
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:15:33: error: parse error in template argument list
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:15:93: error: no matching function for call to ‘ros::NodeHandle::serviceClient(const char [13])’
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:15:93: note: candidates are:
/opt/ros/fuerte/include/ros/node_handle.h:1129:17: note: template<class MReq, class MRes> ros::ServiceClient ros::NodeHandle::serviceClient(const string&, bool, const M_string&)
/opt/ros/fuerte/include/ros/node_handle.h:1149:17: note: template<class Service> ros::ServiceClient ros::NodeHandle::serviceClient(const string&, bool, const M_string&)
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:16:3: error: ‘beginner_tutorials’ is not a class or namespace
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:16:34: error: expected ‘;’ before ‘srv’
/home/faps/ros_workspace/beginner_tutorials/src/add_two_ints_client.cpp:17:3: error: ‘srv’ was not declared in this scope
make[2]: *** [CMakeFiles/add_two_ints_client.dir/src/add_two_ints_client.o] Error 1
make[1]: *** [CMakeFiles/add_two_ints_client.dir/all] Error 2
make: *** [all] Error 2
faps@UbuntuBioMech:~/ros_workspace/beginner_tutorials$

What should i do?

Many Thanks in advance Dominik

Hello,

I already executed some succesfull benchmark-runs with ompl planners. (ROS GROOVY) Now I want to repeat the same with the sbpl_arm planner.

My SBPL-benchmark server .launch file:

<launch>

  <node name="moveit_benchmark_server" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" respawn="false" output="screen">
    <rosparam command="load" file="$(find TX60L_Final11)/config/kinematics.yaml"/>
    <rosparam command="load" file="$(find TX60L_Final11)/config/sbpl_planning.yaml"/>
  </node>

</launch>

my guessed sbpl_planning.yaml-file (I orientaded at the ompl_planning.yaml-file)

planner_configs:
  AraConfigDefault:
    type: geometric::Ara

arm:
  planner_configs:
    - ArakConfigDefault

dummy:
  planner_configs:
    - ArakConfigDefault

edit: when I start my .launch-file Terminal shows following:

...
[ INFO] [1366667891.580784849]: Attempting to load and configure ompl_interface_ros/OMPLPlanner
[ INFO] [1366667891.690143180]: Not displaying OMPL exploration data structures.
[ INFO] [1366667891.691618019]: Initializing OMPL interface using ROS parameters
[ERROR] [1366667891.696771314]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ERROR] [1366667891.699387276]: Could not find the planner configuration 'ArakConfigDefault' on the param server
[ INFO] [1366667891.703239199]: Available planner instances: ompl_interface_ros/OMPLPlanner

Why is the benchmark_server assuming that I use OMPL? How can I fix it?

Edit: Here is a paper, where sbpl - benmarking is realized in MoveIt!

Edit: Here are my MoveIt! configuration files. And my 6Dof_robot.

Many Thanks in advance viovio

Hello,

I want to create a pdf of my benchmark.log-file by using following command:

faps@faps-Aspire-5740D:~/Desktop$ rosrun moveit_ros_benchmarks moveit_benchmark_statistics.py config1.cfg.1.log -p bechmark_results.pdf

But:

[rosrun] Couldn't find executable named moveit_benchmark_statistics.py below /opt/ros/groovy/share/moveit_ros_benchmarks

I've installed the newest version of moveit. How can I make it work?

Thx in advance viovio

Hello everybody,

I'm using the Rviz MoveIt Plugin for my 6 Dof - Robot. I created the necessary package via "Moveit Setup Assistant". Unfortunately the interactive markers don’t show up. (see this threat) So I started the Joint_State_Publisher with the "GUI"-parameter on true.

But the slide controls have no influence on my robot. But it shows exactly 5 slide controls for my 5 joints, as described in my urdf.

Questions:

1. Do I have to start the joint_state_publisher also with the "robot_description"-parameter?
2. Do I also need to start the "robot_state_publisher"?

Sorry but I'm a quiet newby at this stuff. What information do you need in order to help me?

Many Thanks in advance viovio

Hello to all,

I created a Robot-Config via MoveIt! Setup Assistant. The Robot is a simple 6 Dof Robot.

When I start it with the Rviz Moveit Plugin the interactive markers are not displayed. (After I click on "Interact"). I suspect the End-Effector is not correctly set by me.

RVIZ:

Screenshots of the MoveIt Setup Assistant:

1.

2.

I set for both plannings groups the "KDLKinematicsPlugin" as Solver on default values. I followed this tutorial for the pr2-robot.

My .launch-file:

<launch>

<include file="$(find tx60l_final3)/launch/upload_tx60l.launch"/>

<node pkg="tf" type="static_transform_publisher" name="odom_broadcaster" args="0 0 0 0 0 0 odom_combined base_footprint 100" />

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 <param name="/use_gui" value="false"/>
</node>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen"/>

  <include file="$(find tx60l_final3)/launch/move_group.launch">
    <arg name="allow_trajectory_execution" value="false"/>
  </include>

<include file="$(find tx60l_final3)/launch/moveit_rviz.launch"/>

</launch>

Edit (no gazebo-part in urdf): See here the Terminal-Output.

Info: Removing and adding "MotionPlanning" inside Rviz didn't help.

Edit (working Links): Here you can download my robot-description. Here you can download my urdf-folder.

Update: If I set the "fixed_frame" to a link of the robot itself, interactive markers for joint a4 show up. (See picture below) But I need interactive markers in joint5. If I let "fixed_frame" set on "base_footprint" or "odom_combined" (as it should be, I think) and "plan and execute" for a random query MoveIt! crashes (output)

Update: Now the interactive markers work correctly. Many Thanks to all supporters.

viovio

Hello to all,

after finishing the "MoveIt! Setup Assistant" for my tx60l-robot I tried to start the rviz moveit plugin with following command:

roslaunch tx60l_moveit moveit_rviz.launch

Rviz starts, but there is no robot visible.

The "moveit_rviz.launch"-file generated by the "MoveIt! Setup Assistant":

<launch>

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" output="screen">
    <rosparam command="load" file="$(find tx60l_moveit_config)/config/kinematics.yaml"/>
  </node>

</launch>

There is no reference on my .urdf-file I used for the MoveIt! Setup Assistant" ! -> no robot can be displayed

Though this instruction shows a different kind of .launch-file (using pr2-robot):

 <launch>
        <include file="$(find pr2_description)/robots/upload_pr2.launch"/>
        <node pkg="tf" type="static_transform_publisher" name="odom_broadcaster" args="0 0 0 0 0 0 odom_combined base_footprint 100" />
        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
         <param name="/use_gui" value="false"/>
        </node>
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
           <param name="/use_gui" value="false"/>
         </node>
        <include file="$(find pr2_moveit_config)/launch/moveit_rviz.launch"/>
    </launch>

My new launch file:

<launch>
    <include file="$(find tx60l_moveit)/launch/upload_tx60l.launch"/>
    <include file="$(find tx60l_moveit)/launch/moveit_rviz.launch"/>
</launch>

upload_tx60l.launch:

<launch>
    <param name="robot_description" command="cat $(find learning_urdf)/tx60l.xml" />
</launch>

Edit:

With my new launch-file Rviz starts finally. Obviously all nodes are loaded by the Moveit Assistant generated launch file (Though I cant detect them in there)

After starting Rviz I add "MotionPlanning" like described in this tutorial. Now my Robot is visible

But there is the hint: "no planning library loaded". Have I to start Rviz with an additional parameter which defines the used planning library?

Also I cant select any "Planning Group"!

How can I solve that? Or what information are relevant to help me?

Edit:

Now the OMPL is loaded, thx to Boris. But I dont get any interactive marker (is there a different way to set robot-poses?) for my robot-arm when I click on "Interact". When I load the pr2-demo it works. So the failure has to be hidden in my robot-config created with the "Setup Assistant". Is it because I didnt have defined an End-Effector?

Edit: Dave told me the problem is the end-effector. But I still cant solve it. I already tried all combinations. My robot is a simple arm of 6 links connected by 5 joints. I put all joints in one "arm-group" and the last link (link6) in another group called "end" but with no ki-solver, because its only one link. I think that's similar to this tutorial. Then I added an end-effector with the end-effector-group "end" and the parent link link 5. But there is still no interactive markers visible. What am I doing wrong?

Many Thanks in advance viovio

Hello to all,

when I start Rviz with following .udfr - file:

<?xml version="1.0"?>
<robot name="test_robot">
  <link name="base_link"> 
    <visual>
      <geometry>
      <mesh filename="package://learning_urdf/meshes/tx60l_arm.stl"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
  </link>
  <link name="link2" >
    <visual>
      <geometry>
      <mesh filename="package://learning_urdf/meshes/tx60l_shoulder.stl"/>
      </geometry>
      <material name="whatever">
        <color rgba="1 0 1 0"/>
      </material>
    </visual>
  </link>

  <joint name="joint1" type="continuous">
    <parent link="base_link"/>
    <child link="link2"/>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="1 0 0" />
  </joint>
</robot>

Nothing is shown in the camera-view but the grid. The STL-Files were exported in Binary. There are none failure-messages while starting rviz or inside of it.

First i suggested the .stl - files are invisible, so I added the material-tag.

Any Suggestions why my camera-view is blank?

Many Thanks in advance Dominik

edit:

@Lorenz I tried to open my urdf file seperately in rviz und gazebo. For rviz I followed the rviz-tutorial. It was possible to load the urdf-file which you are suposed to build in this tutorial. I only exchanged the simple geometry with the meshes. At the end of the tutorial also a mesh is used (though a dae-file).

update to gazebo: I was able to load the urdf file in gazebo, but it is invisible like in rviz. Also the links of the urdf file are not shown in the tree.

Hello to all,

when i open the add_two_ints_server.cpp from this tutorial with my C++ Eclipse Editor following failures are shown:

Description Resource    Path    Location    Type
Type 'beginner_tutorials::AddTwoInts::Request' could not be resolved    add_two_ints_server.cpp /beginner_tutorials/src line 4  Semantic Error
Type 'beginner_tutorials::AddTwoInts::Response' could not be resolved   add_two_ints_server.cpp /beginner_tutorials/src line 5  Semantic Error
Field 'sum' could not be resolved   add_two_ints_server.cpp /beginner_tutorials/src line 7  Semantic Error
Field 'a' could not be resolved add_two_ints_server.cpp /beginner_tutorials/src line 7  Semantic Error
Field 'b' could not be resolved add_two_ints_server.cpp /beginner_tutorials/src line 7  Semantic Error
Field 'ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b)' could not be resolved   add_two_ints_server.cpp /beginner_tutorials/src line 8  Semantic Error
Field 'ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b)' could not be resolved   add_two_ints_server.cpp /beginner_tutorials/src line 8  Semantic Error
Field 'ROS_INFO("sending back response: [%ld]", (long int)res.sum)' could not be resolved   add_two_ints_server.cpp /beginner_tutorials/src line 9  Semantic Error
Invalid arguments '
Candidates are:
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, bool (#0::*)(#1 &, #2 &), #0 *)
ros::ServiceServer advertiseService(ros::AdvertiseServiceOptions &)
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, bool (#0::*)(ros::ServiceEvent<#1,#2> &), #0 *)
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, bool (#0::*)(#1 &, #2 &), const boost::shared_ptr<#0> &)
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, bool (#0::*)(ros::ServiceEvent<#1,#2> &), const boost::shared_ptr<#0> &)
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, bool (*)(#0 &, #1 &))
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, bool (*)(ros::ServiceEvent<#0,#1> &))
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, const boost::function<bool (#0 &, #1 &)> &, const boost::shared_ptr<const void> &)
ros::ServiceServer advertiseService(const std::basic_string<char,std::char_traits<char>,std::allocator<char>> &, const boost::function<bool (#0 &)> &, const boost::shared_ptr<const void> &)
'   add_two_ints_server.cpp /beginner_tutorials/src line 18 Semantic Error

What file or dependency is eclipse missing? Or are that failures with multiple origins?

edit: I followed this IDE-Tutorial.

At step "1. Reusing your shell's environment", i build an new ros-package and copied the "c++ eclipse" files in it. Then I created a launch folder and file and pasted following:

<launch>
<node pkg="eclipse2" name="eclipse" type ="eclipse"/>
</launch>

By using the command "roslaunch eclipse2 eclipse.launch" I started C++ - Eclipse. (Eclipse starts with some warnings of missing log-files)

But these failures are still there.

Also I follwed the other steps of the tutorial.

Any Suggestions?

Many Thanks in advance Dominik

Hello,

I want to use roscd inside of my ros_workspace, without typing:

source ~/fuerte_workspace/setup.bash

at first. In this tutorial is written:

It is very common to replace the line source /opt/ros/fuerte/setup.bash to source the setup.bash in ~/fuerte_workspace.

I suspect that this sentence is the solution. Due to English is not my Motherlanguage I just dont get it what to do in order to use roscd instantly for all packages inside of my fuerte_workspace.

Can someone please give me an exact instruction to reach my goal?

Thanks in advance Dominik