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2020-12-27 06:09:34 -0600 commented answer Rosbag and timestamp received vs timestamp published

Hi, I still don't understand your answer. Did you mean that the timestamp of the message is the timestamp when the entir

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2020-11-07 03:36:10 -0600 commented answer I can plan and excute to a target pose in the motion planning of rviz, but can not using move_group c++ interface

I'm sure that is not a fake controller. I can control my robot in the gazebo by moveit. The controller of the arm group

2020-11-05 23:30:20 -0600 commented answer I can plan and excute to a target pose in the motion planning of rviz, but can not using move_group c++ interface

Thanks for your answer. But new error occured: ros.betago_calibration: pose 0.397771 0.286498 0.795493 0.597188 0.50599

2020-11-05 08:02:38 -0600 asked a question I can plan and excute to a target pose in the motion planning of rviz, but can not using move_group c++ interface

I can plan and excute to a target pose in the motion planning of rviz, but can not using move_group c++ interface Hello,

2020-10-07 09:01:29 -0600 asked a question Where can I find all the parameters of the gazebo_ros_openni_kinect plugin?

Where can I find all the parameters of the gazebo_ros_openni_kinect plugin? Hello, As the title said, I want to set a s

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2020-07-25 10:03:08 -0600 commented answer How to use SetModelState in a C++ to enable and disable gravity of an object

but the answer link you post has no content about how to disable gravity.

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2020-06-27 12:37:51 -0600 marked best answer How to check the moveit is ready for planning through API

Hello, Before I run the manipulator motion node, I need to wait for the moveit to load completely, the load completed sign is shown in the output of the terminal:

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

ros.moveit_ros_move_group: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
ros.moveit_ros_move_group: MoveGroup context initialization complete

You can start planning now!

Is there an API through which I can check whether the moveit load completely? Thanks!

2020-06-27 12:37:50 -0600 commented answer How to check the moveit is ready for planning through API

@v4hn Thanks for your answer. You are right, MoveGroupInterface will wait for the interface to come up. I don't need to

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2020-06-26 22:02:30 -0600 commented question How to check the moveit is ready for planning through API

Thank you, I have modified my question description.

2020-06-26 22:02:16 -0600 commented question How to check the moveit is ready for planning through API

Thank you, I have modify my question description.

2020-06-26 22:01:28 -0600 edited question How to check the moveit is ready for planning through API

How to check the moveit is ready for planning through API Hello, Before I run the manipulator motion node, I need to wai

2020-06-26 10:59:30 -0600 asked a question How to check the moveit is ready for planning through API

How to check the moveit is ready for planning through API Hello, Before I run the manipulator motion node, I need to wai

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2020-06-10 09:16:59 -0600 marked best answer Banana rotates by itself in Gazebo, I don't know why.

I'm using gazebo7 in ubuntu16.04.

I launch a bannana model in gazebo,everything is ok but the bannana will rotate slowly by itself.

urdf below:

<?xml version="1.0" ?>
<robot name="Bannana">
  <material name="yellow">
        <color rgba="1 0.4 0 1"/>
  </material>
  <link name="Bannana">
    <inertial>
      <origin
        xyz="0.0014177 4.15280000000162E-06 0.026526"
        rpy="0.0 0.0 0.0" />
      <mass
        value="0.11082" />
      <inertia
        ixx="2.48347659000621E-05"
        ixy="1.68484882757417E-06"
        ixz="-1.05360215654521E-06"
        iyy="0.000186690109925898"
        iyz="1.13501975389491E-08"
        izz="0.000175609996584435" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="1.5707963267949 0 0" />
      <geometry>
        <mesh
          filename="package://object_description/meshes/Bannana.STL" />
      </geometry>
      <material name="yellow" />
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.5707963267949 0 0" />
      <geometry>
        <mesh
          filename="package://object_description/meshes/Bannana.STL" />
      </geometry>
    </collision>
  </link>
  <gazebo reference="Bannana">
            <material>Gazebo/Yellow</material>
  </gazebo>

</robot>

launch file below:

<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>
  <arg name="world_name" default="$(find object_gazebo)/world/table.world"/>

  <!-- We resume the logic in empty_world.launch -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
    <arg name="world_name" value="$(arg world_name)" />
  </include>

  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find object_description)/urdf/Bannana.urdf'" /> 
  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf
        -model Bannana 
        -param robot_description
        -x 0
        -y 0
        -z 1 "/> 
</launch>

Here is the workspace link,and there is a bannana.gif in the home directory to describe the question.

Can you give me some advice? Thanks a lot!

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2020-03-09 02:59:27 -0600 marked best answer No interactive markers in rviz plugin MotionPlanning

Hello,

ROS environment variables:

ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/home/wang/imta_project/BetaGo/BetaGo_ws/src:/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=/home/wang/imta_project/BetaGo/BetaGo_ws/devel/share/common-lisp
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros

rviz:

[ INFO] [1583684440.312466155]: rviz version 1.12.17
[ INFO] [1583684440.312497891]: compiled against Qt version 5.5.1
[ INFO] [1583684440.312505512]: compiled against OGRE version 1.9.0 (Ghadamon)

We build a robot and use moveit to control the robot. The planning and execute in rviz plugin motionplanning works well, but the interactive marker disappeared as shown in the first image of this page

The project packages is in github. According to the README here and the only Moveit mode, you can reproduce the problem.

I check the xacro file of model by check_urdf <(xacro --inorder ridgeback.urdf.xacro) and the output is below:

    robot name is: ridgeback
---------- Successfully Parsed XML ---------------
root Link: base_link has 3 child(ren)
    child(1):  chassis_link
        child(1):  axle_link
            child(1):  front_rocker_link
                child(1):  front_left_wheel_link
                child(2):  front_right_wheel_link
            child(2):  rear_rocker_link
                child(1):  rear_left_wheel_link
                child(2):  rear_right_wheel_link
        child(2):  front_cover_link
        child(3):  front_lights_link
        child(4):  imu_link
        child(5):  left_side_cover_link
        child(6):  rear_cover_link
        child(7):  rear_lights_link
        child(8):  right_side_cover_link
        child(9):  top_link
    child(2):  camera_rgb_frame
        child(1):  camera_depth_frame
            child(1):  camera_depth_optical_frame
        child(2):  camera_link
        child(3):  camera_rgb_optical_frame
    child(3):  mid_mount
        child(1):  left_ur_arm_base_link
            child(1):  left_ur_arm_base
            child(2):  left_ur_arm_shoulder_link
                child(1):  left_ur_arm_upper_arm_link
                    child(1):  left_ur_arm_forearm_link
                        child(1):  left_ur_arm_wrist_1_link
                            child(1):  left_ur_arm_wrist_2_link
                                child(1):  left_ur_arm_wrist_3_link
                                    child(1):  left_ur_arm_ee_link
                                    child(2):  left_ur_arm_tool0
        child(2):  right_ur_arm_base_link
            child(1):  right_ur_arm_base
            child(2):  right_ur_arm_shoulder_link
                child(1):  right_ur_arm_upper_arm_link
                    child(1):  right_ur_arm_forearm_link
                        child(1):  right_ur_arm_wrist_1_link
                            child(1):  right_ur_arm_wrist_2_link
                                child(1):  right_ur_arm_wrist_3_link
                                    child(1):  right_ur_arm_ee_link
                                    child(2):  right_ur_arm_tool0
2020-03-08 11:41:23 -0600 asked a question No interactive markers in rviz plugin MotionPlanning

No interactive markers in rviz plugin MotionPlanning Hello, ROS environment variables: ROS_ROOT=/opt/ros/kinetic/share

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2020-02-25 01:42:08 -0600 commented question What is the prupose of unpause argument in gazebo_ros spawn_model

yes, I get it, thank you.

2020-02-25 01:39:04 -0600 edited question What is the prupose of unpause argument in gazebo_ros spawn_model

What is the prupose of unpause argument in gazebo_ros spawn_model Hello, As the subject said, what is the purpose of un

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2020-02-25 01:38:48 -0600 edited question What is the prupose of unpause argument in gazebo_ros spawn_model

What is the prupose of unpause argument in gazebo_ros spawn_model Hello, As the subject said, what is the purpose of un

2020-02-24 23:04:34 -0600 asked a question What is the prupose of unpause argument in gazebo_ros spawn_model

What is the prupose of unpause argument in gazebo_ros spawn_model Hello, As the subject said, what is the purpose of un

2020-02-24 21:36:34 -0600 asked a question How joint_limit for the position is implemented?

How joint_limit for the position is implemented? Hello, As you can see from the image below, the joint_limit is checked

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2019-10-15 02:25:20 -0600 asked a question The color of gazebo_ros_openni_kinect's pointcloud2 is different with the image

The color of gazebo_ros_openni_kinect's pointcloud2 is different with the image Hello, I have a Kinect gazebo model. k

2019-10-15 02:23:41 -0600 asked a question The color of gazebo_ros_openni_kinect's pointcloud2 is different with the image

The color of gazebo_ros_openni_kinect's pointcloud2 is different with the image Hello, I have a Kinect gazebo model. k

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