Lauran's profile - activity

Thank you. I just managed to find that as well :)

Hello,

I am having some issues with reading a variable from the message PoseStamped. I can call the callback function and when I write something to read out the message I get the following error.

'const_pose_type' has no member named 'pose'
x_current = msg->pose.pose.position.x;

I get the message from another computer which is connected with an UTP cable as a slave to my computer which is the master. In the terminal I can echo the message and see that it is sending coordinates. The code that is running is as following.

#include "ros/ros.h"
#include <sstream>
#include "geometry_msgs/PoseStamped.h"

#include <vector>

std::vector<geometry_msgs::PoseStamped::ConstPtr> pose;

double x_current = 0;

void tf_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) {
    ROS_INFO_STREAM("Received pose: " << msg);
    x_current = msg->pose.pose.position.x;
    ROS_INFO_STREAM(x_current);
    pose.push_back(msg);
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "subscriberTF");
    ros::NodeHandle nh;
    ros::Subscriber subscribetf = nh.subscribe("/visp_auto_tracker1/object_position", 1000, tf_callback);
    ros::spin();
    return(0);
}

Could someone please have a look at my code to see what I do wrong so that I can import the variables from the function the proper way. I want to publish the coordinates to the tf afterwards.

Thank you.

Read variable from PoseStamped C++ Hello, I am having some issues with reading a variable from the message PoseStamped.

I have also managed to implement stopping the UR5 while it moves when the stop void is within the same script as where t

Hello,

I want to stop a UR5 while it is executing a movement. Now, I have three different scripts. One which sends information like coordinates and variables. One which makes the UR5 execute a movement and the third script should stop the robot. My question is now, how can I stop the robot. I found a command which should stop it. I've read on some forum that it should work with some delay.

void moveit::planning_interface::MoveGroup::stop (void)

So my question basically is: How do I implement this void in my code in such a way that I can make the UR5 stop. This is what I currently have.

#include <iostream>
#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
#include <sstream>
#include <ur5_inf3480/Coor.h>

class StopRobot {
public:
    int a;
    int counter;
    void stop(void);
    void PublishCoordinatesCallback(const ur5_inf3480::Coor msg);
};

void StopRobot::PublishCoordinatesCallback(const ur5_inf3480::Coor msg) {
    a = msg.a;
    counter = msg.counter;
}

void StopRobot::stop(void) {
    moveit::planning_interface::MoveGroup::stop();
  }

int main(int argc, char **argv) {
    ros::init(argc, argv, "coordinates");
    ros::NodeHandle nh;
    ros::Rate loop_rate(30);
    StopRobot sr;
    ros::Subscriber sub = nh.subscribe<ur5_inf3480::Coor>("coordinates", 1000, &StopRobot::PublishCoordinatesCallback, &sr);
    int a = sr.a;
    int counter = sr.counter;
    while (ros::ok()) {
        a = sr.a;
        loop_rate.sleep();
        ros::spinOnce();
        if (a == 0) {
            sr.stop();
        }
    }
return 0;
}

When I catkin_make the code like this it gives the following error.

/home/lauran/ur5robot_ws/src/ur5_inf3480/src/stop_robot.cpp: In member function ‘void StopRobot::stop()’:
/home/lauran/ur5robot_ws/src/ur5_inf3480/src/stop_robot.cpp:22:46: error: cannot call member function ‘void moveit::planning_interface::MoveGroup::stop()’ without object
  moveit::planning_interface::MoveGroup::stop();

I have tried to do different sorts of code but every code gives another error. So I'm a bit stuck now on how the usage of this certain command is. Could someone please help me on this.

Thank you.

There still seems to be some delay before it actually stops though, this might be because I ros::init twice. In the move

The error is solved! I gave the movegroup the wrong name. Now I have given it the same name as the movegroup that moves

I had tried earlier to see what happens in my script that moves the UR5 whenever I move the UR5. I see that my script th

note: candidate expects 3 arguments, 0 provided And then all four follow with this or something like this: moveit::p

note: candidate expects 3 arguments, 0 provided And then all four follow with this or something like this: moveit::p

note: candidate expects 3 arguments, 0 provided And then all four follow with this or something like this: moveit::p

I had tried earlier to see what happens in my script whenever I try to move the UR5. I see that my script waits until th

note: candidate expects 3 arguments, 0 provided And then all four follow with this or something like this: moveit::pl

When I catkin_make the adjustment I get many errors starting with: error: no matching function for call to ‘moveit::pl

MoveIt stop command usage Hello, I want to stop a UR5 while it is executing a movement. Now, I have three different sc

Yes of course, sorry for that.

MoveIt stop command usage Hello, I want to stop a UR5 while it is executing a movement. Now, I have three different sc

Okay, I wasn't sure if I had to start a new question. Thank you

Hello,

In my code I would like to get a variable from my message and use this in my main. Whenever I run this code "x" is said to be 0.00. This should be a different number. In my message I declare my variables as float32. I feel like I don't use x = msg.x the proper way. I know that my message is being send the right way. Because in a different code I was able to ROS_INFO_STREAM(x). This showed that it receives the right x value. Could someone please look at my code and hopefully see where I make a mistake?

#include <iostream>
#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
#include <sstream>
#include <ur5_inf3480/Coor.h>

using namespace std;

class MoveRobot {
    public:
        double x;
    double y;
    double z;
    double roll;
    double pitch;
    double yaw;
    double a;
    void PublishCoordinatesCallback(const ur5_inf3480::Coor msg);
};

void MoveRobot::PublishCoordinatesCallback(const ur5_inf3480::Coor msg) {
    x = msg.x;
    y = msg.y;
    z = msg.z;
    roll = msg.roll;
    pitch = msg.pitch;
yaw = msg.yaw;
a = msg.a;
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "coordinates");
    ros::NodeHandle nh;
    ros::Rate loop_rate(30);
    MoveRobot moverobot;
    ros::Subscriber sub = nh.subscribe<ur5_inf3480::Coor>("topic_subscribed", 1, &MoveRobot::PublishCoordinatesCallback, &moverobot);
    while (ros::ok())
    {
        ROS_INFO("This is x: %.2f", moverobot.x);
    }
    loop_rate.sleep();
    ros::spin();
    return 0;
}

I hope I won't ask a question which has been asked already. I tried to search the forum and the internet first but I can't find a solution. Thank you for your answers!

Okay, I will just make it publish fast then. Thank you for your help and the link. This forum really makes me learn more

I am on the right track! Whenever I set my ros::Rate loop_rate(); faster. x goes from 0.00 to the value faster. Is there

Thank you for your answer! The change in code didn't show any difference. It still just said x was 0.00. But when I star