enrico's profile - activity

Hello. Unfortunately it's been several years since I asked this question, so I remember very little (I'm not working on

Hi all,

I was able to simulate the UR5 and control it in simulation from RViz, fololwing these steps:

$ roslaunch ur_gazebo ur5.launch

$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true

Now I would like to know how to control the real UR5, but first I need to know how RViz is talking to Gazebo in order to make the robot moves. Does anyone know what kind of input is needed by gazebo? Or better, what kind of information is being sent to Gazebo when I press "plan and execute" in RViz? I suspect they are the joints states, but I don't know where to read this information.

Thank you for your help in advance.

Edit: Thanks a lot for your answer, now everything is a bit more clear. But I have another question at this point. I tried to communicate with the real hardware and I was able to move the robot running "test_move.py" from the "ur_modern_driver package". After that I tried to move the robot with MoveIt! following this tutorial:

http://wiki.ros.org/universal_robot/T...

Problems arise when launching this command:

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true

In the terminal the following lines appear:

[ WARN] [1529329845.474785699]: Waiting for /joint_trajectory_action to come up
[ WARN] [1529329851.474995251]: Waiting for /joint_trajectory_action to come up
[ERROR] [1529329857.475168563]: Action client not connected: /joint_trajectory_action

So that when i launch MoveIt (by typing roslaunch ur5_moveit_config moveit_rviz.launch config:=true) to try planning and execution, the planning is ok but the execution never works. And the same is with using the limited version (limited:=true).

Do you have any idea why this happens?

Yes, in my case the problem was with Zagitta's ur_modern_driver. That pkg didn't rnu the service I needed. So instead I

Hi all,

I was wondering if a function able to remove collision objects from world do exists...

because the

planning_scene_interface.removeCollisionObjects(object_ids)

function requires at least 0.4/0.5 seconds delay to be effective on Rviz, but my target is to remove it istantaneously. I know there was a similar issue with the placement of an object in the world, because also the function

addCollisionObjects

requires that delay in order to be effective in Rviz. But this has been solved by using another function:

applyCollisionObject

So if anyone has ever dealt with these things please try to help me. Thanks in advance.

ROS Kinetic, Ubuntu version 16.04

Yes, after you write "group.setPoseTarget(p1)" you have to write the command "group.move()". Then you do the same after

Hi everyone,

I would like to use the function void setReplanningDelay(double delay) belonging to class MoveGroup::MoveGroupImpl, because I need to decrease the 2 seconds default value of replan_delay_. How could I implement that function? An example of code would be really helpful.

I think another option is to manually decrease that value, but this would require installing Moveit in the workspace I guess, but I would leave this option as the last resort.

ROS version: Kinetic Ubuntu: 16.04

MoveIt: how to use class MoveGroup::MoveGroupImpl? Hi everyone, I would like to use the function void setReplanningDela

Hi gdvhoorn, can you explain a little more in details what should be done in order to open/close the gripper via service

Hi! How did you manage use those commands for controlling the opening and the closure of the RG2? When I try them for my

Yes it makes sense. Thanks for the explanation

Still don't know how to do it through Rviz interface, but there is a way through code. You can set (n) targets by using

Given that the code above has been optimized, the problem was on the functions themselves. "addCollisionObject" and "re

Given that the code above has been optimized, the problem was on the functions themselves. "addCollisionObject" and "re

I bypassed the problem using ros_control instead of ur5_bringup.launch. So on the terminal, in order to connect to UR5,

It ended up I had to adjust the values of parameters until I got better results. In particular, im my case, good values

Hi all

I am a beginner user of MoveIt. I have switched between every OMPL algorithm (switching among them in the context tab) but the RRTstar never runs and Moveit crashes. Any suggestions?

My Ubuntu version: 16.04 ROS Kinetic

how to remove collision objects from Rviz by code Hi all, I was wondering if a function able to remove collision object

Hi, as long as you know, is there a function that allows to remove the collision object immediately? Because the plannin

Hi, is there a function that allows to remove the collision object immediately? Because the planning_scene_interface.rem