Tim Stadtmann's profile - activity

So currently I don't actually use MoveIt motion planning. I just wanted to implement a ghost controlled robot arm and I

While doing that, I want to continuously record either the end effector poses or the joint states of the ghost, to get t

With 'ghost' I meant the transparent end state, sorry for the misunderstanding. I want to be able to control this end st

How to control the 'ghost' in MoveIt's Rviz MotionPlanning plugin from code? Hi guys, I am fairly new to MoveIt's Motio

How to control the 'ghost' in MoveIt's Rviz MotionPlanning plugin from code? Hi guys, I am fairly new to MoveIt's Motio

Lock arbitrary joints when solving IK using tracIK Hi guys, I am using the trac-ik Plugin in MoveIt! to do my IK calcul

Also, could you show how you instantiate the publisher?

So if I understand correctly, your code crashes when publishing cmd_vel_msg (as this is the only 'critical' thing you do

Just to make sure: did you only add the source /home/username/catkin_ws/devel/setup.bash line to your .bashrc, or did yo

Controlling multiple joints at the same time Hi guys, ROS supernoob here, apologies for that in advance. I am current

Good call, that actually works quite well already, thanks. Using this solve type, does the solver try to minimize the to

Make MoveIt! IK solver 'prefer' certain solutions over others Hi, I am currently trying to implement the end-effector c

Make MoveIt! IK solver 'prefer' certain solutions over others Hi, I am currently trying to implement the end-effector c

Thanks for the additional clarification.

Hi guys,

ROS supernoob here, apologies for that in advance.

I am currently trying to implement the end-effector control for a 7DOF robot arm in Gazebo. I have already figured out the inverse kinematics, and just need to send the joint goal positions to the seven joint controllers (which currently are effort controllers with the JointPositionController interface). Is there any way to control all joints at the same time besides switching to JointTrajectoryController? Or is the trajectory controller the right way to go even though I do not send trajectories but single points?

[EDIT] Stumbled upon another problem regarding this question. One of my goals is to control the arm with an external controller, e.g. a joystick. The output of the joystick will be interpreted as a velocity for the end-effector. As the JointTrajectoryController needs goal positions (using a pure 'velocity' trajectory is not possible), my only solution would be to calculate the goal position for each incoming velocity using a time estimate for how long the velocity will be applied (e.g. using the predicted time between two incoming velocity messages), and setting the time_from_start parameter accordingly. That solution feels kind of hacky.. are there any better ways? Direct velocity control, imo the intuitive solution, seems to be out of the question if the only sensible way to control multiple joints is the JTC...

Cheers,

Tim

Okay, thanks!

Controlling multiple joints at the same time Hi guys, ROS supernoob here, apologies for that in advance. I am current

Uhm, that's strange, that option was introduced in Jade afaik. Two things to try out now. First, update xacro and try ag

It seems like xacro has a problem creating the URDF. Try running xacro --inorder /home/user/gym-gazebo/gym_gazebo/envs/i