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2019-05-24 08:27:09 -0500 commented question Providing MoveIt! with (external) octomap data

Did you get an answer? Do you have the code for publishing the octomap?

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2019-05-24 02:01:38 -0500 commented answer Read or write message from/to file

The ros bag C++ API provides this functionality. see here

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2019-03-26 09:18:47 -0500 commented answer load nodelet service as an library

Maybe information about the service name, service message name, and example code could be very helpful here...

2019-02-19 03:37:23 -0500 edited question Axis displayed improperly on rviz_visual_tools

Axis displayed unproperly on rviz_visual_tools Good day, I am having an issue with the display of some axis markers on

2019-02-19 03:36:59 -0500 asked a question Axis displayed improperly on rviz_visual_tools

Axis displayed unproperly on rviz_visual_tools Good day, I am having an issue with the display of some axis markers on

2019-02-15 09:52:58 -0500 marked best answer Error using member function as callback for `setFromIK` on `RobotState` class

Good day,

I am trying to use the function setFromIK defined on moveit::core::RobotState.

This function admits a callable parameter named GroupStateValidityCallbackFn with type (function signature):

typedef boost::function<bool(RobotState* robot_state, const JointModelGroup* joint_group, const double* joint_group_variable_values)>

The problem arises because I am trying to pass a member class functions to this parameter (because I need come class instance member fields in the processing), and then the binding process goes to hell.

My class look like this:

class CSDA10F{
    public:
       bool validateIKSolution( robot_state::RobotState* robot_state, 
                                        const robot_state::JointModelGroup* joint_group, 
                                        const double* joint_group_variable_value){
              [...]
              // some code here
              [...]
       }

       bool planCartesianMotionTask(MoveGroupInterface* move_group, 
                                                    geometry_msgs::Pose initial_pose, 
                                                    geometry_msgs::Pose final_pose,
                                                    std::vector<MoveGroupInterface::Plan> motion_plans,
                                                    uint max_configurations = 10) {
       [...] // Here I make the call!!!.
            auto ik_check_callback = std::bind(&CSDA10F::validateIKSolution, this, _1, _2, _3);
            ik_solution_found = start_state.setFromIK( joint_model_group, initial_pose, 10, 0.01, ik_check_callback);
       [...]
       }

I use 3 placeholders for the 3 arguments from the function, but then the compiler just failes with an error that I simply dont understand.

In file included from /usr/include/boost/function/detail/maybe_include.hpp:28:0,
                 from /usr/include/boost/function/detail/function_iterate.hpp:14,
                 from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:62,
                 from /usr/include/boost/function.hpp:64,
                 from /opt/ros/kinetic/include/ros/forwards.h:40,
                 from /opt/ros/kinetic/include/ros/common.h:37,
                 from /opt/ros/kinetic/include/ros/ros.h:43,
                 from /home/invite/catkin_ws/src/[...].cpp:1:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static R boost::detail::function::function_obj_invoker3<FunctionObj, R, T0, T1, T2>::invoke(boost::detail::function::function_buffer&, T0, T1, T2) [with FunctionObj = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*]’:
/usr/include/boost/function/function_template.hpp:940:38:   required from ‘void boost::function3<R, T1, T2, T3>::assign_to(Functor) [with Functor = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*]’
/usr/include/boost/function/function_template.hpp:728:7:   required from ‘boost::function3<R, T1, T2, T3>::function3(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1077:16:   required from ‘boost::function<R(T0, T1, T2)>::function(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit ...
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2019-02-15 09:52:55 -0500 commented answer Error using member function as callback for `setFromIK` on `RobotState` class

Thank you, the solution was also mentioned here, but I forgot to upload ROS answers.

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2019-02-08 08:37:58 -0500 asked a question Error using member function as callback for `setFromIK` on `RobotState` class

Error using member function as callback for `setFromIK` on `RobotState` class Good day, I am trying to use the function

2019-01-28 08:53:49 -0500 edited answer Return of multple IK configurations of goal state.

I find a way of obtaining some of the possible IK solutions for a given goal state, by using a custom implementation of

2019-01-28 08:53:20 -0500 edited answer Return of multple IK configurations of goal state.

I find a way of obtaining some of the possible IK solutions for a given goal state, by using a custom implementation of

2019-01-28 08:51:58 -0500 answered a question Return of multple IK configurations of goal state.

I find a way of obtaining some of the possible IK solutions for a given goal state, by using a custom implementation of

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2019-01-17 02:38:51 -0500 edited answer Understand PointCloud2 msg (data array)

Here you can find useful information about the message structure and how to iterate through the cloud points.

2019-01-17 02:38:20 -0500 answered a question Understand PointCloud2 msg (data array)

Here you can find useful information about the message structure and how to iterate through it.

2019-01-08 07:23:49 -0500 commented answer Sourcing from multiple workspaces

It seems not to, I did it with a source installation of moveit, and it does not work.

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2018-12-18 05:23:23 -0500 commented question [Octomap] Not updating the map in real time?

Having the same issue, were you able to solve this?

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2018-12-17 15:59:55 -0500 edited question Deeper control over robot self-filtering

Deeper control over robot self-filtering Good day, For an application in development, it is important to use the self-f

2018-12-17 09:01:05 -0500 edited question Deeper control over robot self-filtering

Deeper control over robot self-filtering Good day, For an application, we are developing it is important to use the sel

2018-12-17 09:00:27 -0500 asked a question Deeper control over robot self-filtering

Deeper control over robot self-filtering Good day, For an application, we are developing it is important to use the sel

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2018-10-17 04:10:03 -0500 asked a question Return of multple IK configurations of goal state.

Return of multple IK configurations of goal state. I have searched a lot for the way of obtaining a set of possible IK r

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2018-04-15 17:23:25 -0500 asked a question controller_joint_names param joint-order for Motoman Driver nodes?

controller_joint_names param joint-order for Motoman Driver nodes? Good day, we are integrating the CSDA10F motoman robo

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2018-04-13 17:29:29 -0500 edited question motion_interface.yaml and controller_joint_names.yaml configuration for Motoman CSDA10F with FS100 controller

motion_interface.yaml and controller_joint_names.yaml configuration for Motoman CSDA10F with FS100 controller Good day.

2018-04-13 17:28:40 -0500 edited question motion_interface.yaml and controller_joint_names.yaml configuration for Motoman CSDA10F with FS100 controller

motion_interface.yaml and controller_joint_names.yaml configuration for Motoman CSDA10F with FS100 controller Good day.

2018-04-13 17:17:20 -0500 asked a question motion_interface.yaml and controller_joint_names.yaml configuration for Motoman CSDA10F with FS100 controller

motion_interface.yaml and controller_joint_names.yaml configuration for Motoman CSDA10F with FS100 controller Good day.

2018-03-30 11:18:22 -0500 edited question Scale and position problem with .STL as scene object in MoveIt!

Scale and position problem with .STL as scene object in MoveIt! Good day, My team and I are new to ROS and MoveIt. Cu

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2018-03-30 11:17:30 -0500 asked a question Scale and position problem with .STL as scene object in MoveIt!

Scale and position problem with .STL as scene object in MoveIt! Good day, My team and I are new to ROS and MoveIt. Cu

2018-02-23 09:39:37 -0500 marked best answer FS100 controller ROS integration with firmware version FS3.27.00-00

Hi.

I want to integrate our FS100 Controller with ROS. In a recent wiki update it has been said that the controller software version FS3.30.00-00 doesn't require purchasing the software option to enable MotoPlus Option Function, nevertheless our controller has active (and in use) the MotoPlus Option Function; this might be related with the fact that we had purchased in the past the Motofit, Motosight and MotoCOM licences.

I don't know if I am confused or not, but with this MotoPlus "Option Function" enabled in the controller, is it required still to upgrade or order the software tool from Yaskawa, or are there more requirements that aren't meet by the FS3.27.00-00 version?.

Thanks for the help.

2018-02-23 09:39:37 -0500 commented answer FS100 controller ROS integration with firmware version FS3.27.00-00

Hallo Ted, I just wanted to say that finally got the approval to install MotoROS but I did got Alarm 105 when reseting t