Ask Your Question

pathare's profile - activity

2021-03-17 05:58:46 -0600 received badge  Famous Question (source)
2021-03-17 05:58:46 -0600 received badge  Notable Question (source)
2021-03-17 05:58:46 -0600 received badge  Popular Question (source)
2020-12-05 10:41:55 -0600 received badge  Famous Question (source)
2020-03-02 23:36:55 -0600 received badge  Famous Question (source)
2020-02-24 04:25:33 -0600 received badge  Notable Question (source)
2020-02-24 04:25:33 -0600 received badge  Popular Question (source)
2019-12-17 11:41:02 -0600 received badge  Notable Question (source)
2019-11-12 13:30:32 -0600 received badge  Notable Question (source)
2019-11-12 13:30:32 -0600 received badge  Popular Question (source)
2019-10-26 03:35:33 -0600 received badge  Taxonomist
2019-07-10 13:57:05 -0600 edited question Trouble moving from simulation to robot

Trouble moving from simulation to robot I have a kuka iiwa that I'm trying to move using moveit using the iiwa stack htt

2019-07-10 13:35:19 -0600 asked a question Trouble moving from simulation to robot

Trouble moving from simulation to robot I have a kuka iiwa that I'm trying to move using moveit using the iiwa stack htt

2019-07-10 12:34:41 -0600 marked best answer Robot arm colliding with workcell

I'm having an issue in my robot cell where the robot is sitting on the edge of a table and the table is outlined by four posts. running the robot to a random location in the center of the table I have about a 50 percent chance of the robot pathing through one of the posts close to it. image description

I've read through some of the moveit docs such as this http://docs.ros.org/melodic/api/movei... and I've tried to play with "longest _valid_segment_fraction" for my planner. I don't know that I've seen any changes though. I've also tried to make the collision tags for each of the posts slightly larger so the sample checker has a higher probability of checking in collision but that hasn't helped either.

I guess my first question is how exactly do I use the "longest _valid_segment_fraction". my assumption was to place it inside the specific motion planner headder like the following.

  RRTConnect:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree.
    longest_valid_segment_fraction: 0.0005

are there any other ways of preventing the collisions?

Thanks

2019-07-10 12:34:32 -0600 answered a question Robot arm colliding with workcell

I would first check your collision geometry. Does your cell have proper collision geometry specified? C

2019-07-10 12:34:32 -0600 received badge  Rapid Responder (source)
2019-07-10 12:31:40 -0600 commented question Robot arm colliding with workcell

You were right, I forgot that I set an artificial ceiling so I didnt need to make collision objects for the upper rails.

2019-07-10 10:09:46 -0600 received badge  Famous Question (source)
2019-07-10 10:09:46 -0600 received badge  Notable Question (source)
2019-07-10 09:04:15 -0600 commented question Robot arm colliding with workcell

I fixed it but cant reopen it myself.

2019-07-10 08:58:19 -0600 edited question Robot arm colliding with workcell

Robot arm colliding with workcell I'm having an issue in my robot cell where the robot is sitting on the edge of a table

2019-07-10 08:57:33 -0600 edited question Robot arm colliding with workcell

Robot arm colliding with workcell I'm having an issue in my robot cell where the robot is sitting on the edge of a table

2019-07-10 08:55:37 -0600 edited question Robot arm colliding with workcell

Robot arm colliding with workcell I'm having an issue in my robot cell where the robot is sitting on the edge of a table

2019-07-10 07:48:29 -0600 asked a question Robot arm colliding with workcell

Robot arm colliding with workcell I'm having an issue in my robot cell where the robot is sitting on the edge of a table

2019-07-03 09:18:43 -0600 marked best answer Trouble with Approximate time sync

I've been trying to get approximate time sync to work on a project for a few days now. the call back just never seems to fire. I decided to start over and make a couple simple nodes to look at everything from a simpler project, as I've read things on the forums like people struggle to sync more that 2 topics.

So I made a simple publisher node that publishes three header messages on individual topics. and a simple subscriber node that tries to sync the first two topics for now. I did everything following the use guide in the message filter page.

I cant even get the simple example to build ( my original does build). The specific error is 'value' is not a member of 'ros::message_traits::TimeStamp<std_msgs::string_<std::allocator<void>>, void>'

I found a forum post that mentioned that a similar error was caused by not using a message with a header. My guess is that I'm doing something small like not initializing the headers properly or something like that. I'll post the code from both nodes and hopefully someone has a suggestion.

#include "ros/ros.h"
#include "std_msgs/Header.h"

int main(int argc, char **argv)
{
    ros::init(argc, argv, "TestPublisher");
    ros::NodeHandle nh;

    ros::Publisher test1_pub = nh.advertise<std_msgs::Header>("test1", 1000);
    ros::Publisher test2_pub = nh.advertise<std_msgs::Header>("test2", 1000);
    ros::Publisher test3_pub = nh.advertise<std_msgs::Header>("test3", 1000);

    ros::Rate loop_rate(10);
    while (ros::ok())
    {
        std_msgs::Header msg1, msg2, msg3;
        msg1.stamp = ros::Time::now();
        msg2.stamp = ros::Time::now();
        msg3.stamp = ros::Time::now();



        test1_pub.publish(msg1);
        test2_pub.publish(msg2);
        test3_pub.publish(msg3);

        ros::spinOnce();

        loop_rate.sleep();
    }

    return 0;
}

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include "ros/ros.h"
#include "std_msgs/Header.h"

using namespace message_filters;
void testCallback(const std_msgs::Header::ConstPtr& msg1, const std_msgs::Header::ConstPtr& msg2)
{
    ROS_INFO_STREAM("message 1 " << msg1);
    ROS_INFO_STREAM("message 2 " << msg2);
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "TestSubscriber");
    ros::NodeHandle nh;

    message_filters::Subscriber<std_msgs::Header> test1_sub(nh, "test1", 1);
    message_filters::Subscriber<std_msgs::Header> test2_sub(nh, "test2", 1);

    typedef sync_policies::ApproximateTime<std_msgs::Header, std_msgs::Header> MySyncPolicy;

    Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), test1_sub, test2_sub);
    sync.registerCallback(boost::bind(&testCallback, _1, _2));

    ros::spin();

    return 0;
}
2019-07-02 13:17:35 -0600 received badge  Rapid Responder
2019-07-02 13:17:35 -0600 answered a question Trouble with Approximate time sync

I could be wrong, but a "message with a header" is not the same as "a header" (as in: a std_msgs/Header doesn't

2019-07-02 13:16:01 -0600 commented question Trouble with Approximate time sync

That did it. I moved to pointcloud2 as the message type and it started firing. Thanks!

2019-07-02 08:01:20 -0600 edited question Trouble with Approximate time sync

Trouble with Approximate time sync I've been trying to get approximate time sync to work on a project for a few days now

2019-07-02 07:57:46 -0600 edited question Trouble with Approximate time sync

Trouble with Approximate time sync I've been trying to get approximate time sync to work on a project for a few days now

2019-07-02 07:55:32 -0600 asked a question Trouble with Approximate time sync

Trouble with Approximate time sync I've been trying to get approximate time sync to work on a project for a few days now

2019-06-21 10:54:45 -0600 received badge  Self-Learner (source)
2019-06-21 10:54:45 -0600 received badge  Teacher (source)
2019-06-21 07:56:59 -0600 edited answer Simulating real camera data

The answer was suggested by mch, This message means you don't have TF (http://wiki.ros.org/tf) between those cam

2019-06-21 07:55:33 -0600 marked best answer Simulating real camera data

Hi guys,

Is there a way I can simulate camera data similarly to how rosbag works? I tried rosbag but was missing tf data so that didn't work.

is it as simple as adding another topic to record? looking through the available topics I don't see anything that looks like what I need.

In essence what I want to do is, record the data stream of my cameras to pass to my perception pipeline so I can start working on making the robot move to a pick location. I'd like to work at my desk if possible and not at the robot since there isn't much room for my laptop there.

Thanks

2019-06-21 07:55:33 -0600 received badge  Scholar (source)
2019-06-21 07:55:04 -0600 answered a question Simulating real camera data

The answer was suggested by mch, I needed to also record tf_static.

2019-06-21 07:52:58 -0600 received badge  Commentator
2019-06-21 07:52:58 -0600 commented question Simulating real camera data

Sorry it took so long to reply, your suggestion was correct. Thanks!

2019-06-07 19:58:53 -0600 received badge  Famous Question (source)
2019-06-07 19:58:53 -0600 received badge  Notable Question (source)
2019-05-29 23:09:18 -0600 received badge  Popular Question (source)
2019-05-28 10:24:32 -0600 commented question Simulating real camera data

When I subscribe to all on the rosbag with a -a it crashes my software and it wont run. I went back and rerecorded the c

2019-05-28 10:03:37 -0600 commented question Simulating real camera data

I have not tried that, let me give that a try real quick and get back to you

2019-05-28 09:40:02 -0600 commented question Simulating real camera data

Yes, the error that I'm getting in RVIZ is: "Transform [sender=unknown_publisher] for frame [camera1_color_optical_fra

2019-05-28 06:36:53 -0600 asked a question Simulating real camera data

Simulating real camera data Hi guys, Is there a way I can simulate camera data similarly to how rosbag works? I tried r