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2022-10-12 04:26:49 -0500 | marked best answer | Staubli TX 90 Robot model not loading in Rviz Hello, The problem is, that with some point sets the robot model is loaded and can compete 100% of the path, and with some point sets the robot model is not loaded regardless of how much of the path was completed (sometimes even 100% path). Edit2: I am using moveit's move_group interface to compute cartesian path.
I am using Edit 3: So i have figured out the problem, and the problem was that I was using staubli-experimental's kinetic package, instead of the indigo package. This caused an error in the generation of the moveit_setup_assistant moveit_config files. Edit 4: I thought the above would solve the problem, but I am still getting the same "no robot state or model" loaded error. One thing I did notice is that when the .cpp file that computes and publishes the path (node) dies while rviz is running (i.e. vector out of bounds error), the "no robot model loaded" error does not show. I think there may be something wrong with the way I am publishing the path to rviz? In the moveit tutorial there was no explicit publishing from the cpp node to the rviz node, so I assumed I would not have to do this. I ran the regular indigo moveit move group interface tutorials.cpp file, which did not produce the "no robot model loaded" problem. How would I go about this? This problem does not occur when I just run the demo.launch file. I assume theres a problem with the way I set up or do things with moveit in my cpp code, so I have provided that below: |
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2019-05-14 15:03:33 -0500 | answered a question | Staubli TX 90 Robot model not loading in Rviz I solved this problem by adding a sleep before rviz comes up to give time to load the robot model. |
2019-05-09 16:00:19 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, The problem is, that with some point sets the robot model is load |
2019-05-09 15:59:04 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-05-09 15:57:45 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-05-09 15:47:26 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
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2019-05-09 15:26:49 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-05-09 15:15:04 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-05-09 15:06:11 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-05-09 15:03:20 -0500 | commented question | Staubli TX 90 Robot model not loading in Rviz Hello, @gvdhoon I updated my question with new information, please advise on how to get past this. Thank you for helping |
2019-05-09 15:02:37 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
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2019-04-25 15:29:44 -0500 | commented question | Staubli TX 90 Robot model not loading in Rviz Yes, I am running Indigo with ubuntu 14.04. What other information will you need? Thank you for helping. |
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2019-04-25 14:43:28 -0500 | commented question | Staubli TX 90 Robot model not loading in Rviz I build moveit from source so I can change the "moveit_ros/visualization/robot_state_rviz_plugin/src/robot_state_display |
2019-04-25 14:36:13 -0500 | commented question | Staubli TX 90 Robot model not loading in Rviz I was was looking into what the problem could be, and it could be that I did not configure my moveit workspace properly. |
2019-04-25 14:03:08 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-04-25 14:02:52 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-04-25 13:39:00 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-04-25 13:34:37 -0500 | commented question | Staubli TX 90 Robot model not loading in Rviz I updated my ROS logging config, and have updated the error message in the question. The error seems to be coming from |
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2019-04-24 15:16:54 -0500 | edited question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-04-23 12:44:17 -0500 | asked a question | Staubli TX 90 Robot model not loading in Rviz Staubli TX 90 Robot model not loading in Rviz Hello, So I have a cpp program where I input a set of points (x,y,z, rot |
2019-03-01 16:36:12 -0500 | marked best answer | Moveit Inverse Kinematics Solver not working properly Hello, I am working with ROS Kinetic on Ubuntu 16.04, and I am trying to send end effector poses to my Staubli TX90 using move group commands. I send an [x,y,z] coordinate through the setPositionTarget function, and a [r,p,y] target through the setRPYTarget function, and the movement in Rviz does not reflect the desired movement. When i send joint angle commands, everything works as expected, and I am able to get the [x,y,z] position (which means forward kinematics is working fine). So the problem is definitely with the inverse kinematics solver. The URDF files I am using to create my moveit package are directly from Staubli Experimental, so there should be no problem with that. I am using Moveit's default kinematics solver and planning library. Here is the code for the commands I am sending: NOTE: I commented out the changing of the x and y values to see if the end effector will move if I give it the same pose over and over again (which it shouldn't, but it does.) visual_tools.prompt("Press 'next' in the RvizVisualToolsGui window to start the demo"); for(double rad = 0.0; rad < 3; rad += 0.1) { //x = current_poseS.pose.position.x + cos(rad); //y = current_poseS.pose.position.y + sin(rad); move_group.setPositionTarget(x, y, z, move_group.getEndEffectorLink().c_str()); move_group.setRPYTarget(rpy[0], rpy[1], rpy[2], move_group.getEndEffectorLink().c_str()); cout << "XYZ desired position : " << "[" << x << ", " << y << ", " << z << "]" << "\n"; success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); move_group.execute(my_plan); target_pose = move_group.getCurrentPose(move_group.getEndEffectorLink().c_str()); cout << "XYZ actual position: " << "[" << target_pose.pose.position.x << ", " << target_pose.pose.position.y << ", " << target_pose.pose.position.z << "]" << "\n"; In this code, I output the position values of what I ask the end effector to do, and what it actually does. Here are the values for that: XYZ position :[0.149872, 5.96057e-06, 2.11, 1] XYZ desired position : [0.149872, 5.96057e-06, 2.11] XYZ actual position: [-0.171006, 0.125541, 1.02336] XYZ desired position : [0.149872, 5.96057e-06, 2.11] XYZ actual position: [1.36898, 0.0393462, 0.0825644] XYZ desired position : [0.149872, 5.96057e-06, 2.11] XYZ actual position: [0.125503, -1.30601, 0.334007] XYZ desired position : [0.149872, 5.96057e-06, 2.11] XYZ actual position: [-0.166515, 0.520085, 1.04025] XYZ desired position : [0.149872, 5.96057e-06, 2.11] XYZ actual position: [0.858479, 1.07407, 0.799356] XYZ desired position : [0.149872, 5.96057e-06, 2 ... (more) |
2019-03-01 16:29:49 -0500 | marked best answer | Trajectory Splicing Error Hello, I am trying to send my Staubli TX90 robot arm a Joint Trajectory command which publishes to /joint_path_command, which the motion_streaming_interface node subscribes to. My code complies and build correctly, but when I run the node, there is an error saying "Trajectory splicing not yet implemented, stopping current motion." I looked online and noticed that: This is my code for the node that I am running to communicate with the robot arm and subscribe to The values of the JT object are: header: seq: 0 stamp: 0.000000000 frame_id: joint_names[] joint_names[0]: joint_1 joint_names[1]: joint_2 joint_names[2]: joint_3 joint_names[3]: joint_4 joint_names[4]: joint_5 joint_names[5]: joint_6 points[] points[0]: points[1]: |
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2019-02-21 13:21:20 -0500 | commented question | Cartesian Planner not completing path, I edited my post, and I can send you videos but cannot upload on here for some reason |
2019-02-21 13:20:58 -0500 | edited question | Cartesian Planner not completing path, Cartesian Planner not completing path, **EDIT: I am working with the Staubli tx-90 robot I figured out why I was gettin |
2019-02-18 18:23:50 -0500 | asked a question | Cartesian Planner not completing path, Cartesian Planner not completing path, Hello All , I generated a set of waypoints in Matlab (rotation and translation), |
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2018-11-15 15:51:01 -0500 | edited question | How to add custom tool to robot end effector in URDF or Xacro for Moveit! How to add custom tool to robot end effector in URDF or Xacro for Moveit! I am using ROS kinetic on Ubuntu 16.04 I woul |
2018-11-15 15:50:50 -0500 | edited question | How to add custom tool to robot end effector in URDF or Xacro for Moveit! How to add custom tool to robot end effector in URDF or Xacro for Moveit! I am using ROS kinetic on Ubuntu 16.04 I woul |
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2018-11-15 15:48:45 -0500 | asked a question | How to add custom tool to robot end effector in URDF or Xacro for Moveit! How to add custom tool to robot end effector in URDF or Xacro for Moveit! I am using ROS kinetic on Ubuntu 16.04 I woul |
2018-09-24 13:09:31 -0500 | asked a question | Trouble visualizing PointCloud2 in Rviz Trouble visualizing PointCloud2 in Rviz Hello, I publish a PointCloud2 message to a predefined topic that rviz's PointC |
2018-08-24 12:54:11 -0500 | commented answer | Trajectory Splicing Error Thank you! The code works now that I have removed the rate(10.0) line. I was wondering, how would I send an end effector |
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2018-08-24 11:09:13 -0500 | commented answer | Trajectory Splicing Error Alright, so I am just trying to send a simple command to my TX90 robot arm, which has ROS integration. My final goal is |
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2018-08-23 16:18:19 -0500 | edited question | Trajectory Splicing Error Trajectory Splicing Error Hello, I am trying to send my Staubli TX90 robot arm a Joint Trajectory command which publish |