kaike_wesley_reis's profile - activity

@RobTool Could be, but I did not participate in this project. My main points are: MoveIt work with a complete pipeline:

@RobTool My team used only IK from MoveIt or Pybullet. The Path planning turns the process slower.

@RobTool My team used only IK from MoveIt and compared with IK from Pybullet. The Path planning turns the process slower

@Weasfas I will do it, thanks!!

How to correct a texture problem in Gazebo? Hello developers! First, my system Information: ROS: Melodic Gazebo: 9.0

I posted my code after Editing

OpenManipulator-Pro having issues with MoveIt! Hello developers! First my workspace is implemented in Ubuntu 18.04 and

I will for sure. @A_

OpenManipulator-Pro having issues with MoveIt! Hello developers! First my workspace is implemented in Ubuntu 18.04 and

openrave does not show properly the robot model Hello developers! I'm working with manipulator-H and I'm trying to use I

Glad that I could helped!

Can you show me your ompl_planning.yaml? I had some problems with mongo db too, send more info and perhaps we had the s

Moveit! Benchmarking Concepts mistakes Hello developers! Ubuntu 16.04 & ROS Kinetic I'm starting to use the moveit

Well, those errors are more deeper than I thought... I had experiences with this (most because of Open CV old version i

ROS Moveit! Benchmark Shutting Down at the end Hello ROS developers! Ubuntu - 16.04 & ROS Version - Kinetic I'm wo

Can you show your output for your result? I tried your solution but the actual moveit kinetic version doesn't have the m

Well, actually I'm working with this benchmark tool with my ROBOTIS arm (manipulator-h), and discussing with a colleague

Can you show your output for your result? I tried your solution but the actual moveit version doesn't have the moveit_ro

Well, actually I'm working with this benchmark tool with my ROBOTIS arm (manipulator-h), and discussing with a colleague

Thanks! But I already try this. My problem is not the mobile robot, but the speed from IK. Is it possible to use moveit

Control a manipulator in Moveit! with a unfixed base Hello developers! I want to create a application where I have a ma

I'm new at ROS and I'm trying to figure out how does the node works with a pyton/C++ code. I have two codes for the same situation: Use a Xbox Controller to move the turtle in turtlesim

FIRST EXAMPLE - Using global variables and a if __name__ == '__main__' with rospy.spin()

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist 
from sensor_msgs.msg import Joy

# FUNCTION - GET JOY VALUES TRANSFORM TO TURTLE MOVE
def joy_to_twist_transform(jData):
    twt = Twist()
    twt.linear.x = 5*jData.axes[1]
    twt.angular.z = 4*jData.axes[0]
    pub.publish(twt)

# FUNCTION - START PROCESS
def process():
    global pub
    pub = rospy.Publisher('turtle1/cmd_vel', Twist, queue_size=10)
    sub = rospy.Subscriber("joy", Joy, joy_to_twist_transform, queue_size=1)
    rospy.init_node('control_2turtle')
    rospy.spin()

# MAIN
if __name__  == '__main__':
    try:
        process()
    except rospy.ROSInterruptException:
        pass

SECOND EXAMPLE - Using class python and a while as a main

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy

# DEFINING CLASS
class pubSub:
    def __init__(self):
        # DEFINE VARIABLE TO KEEP LAST VALUE
        rospy.init_node('c2t')
        self.twt = Twist()
        self.hold = Twist()

    def callback_function(self,joyData):
        self.twt.linear.x = 4*joyData.axes[1]
        self.twt.angular.z = 4*joyData.axes[0]
        self.hold = self.twt

    def assuming_cont(self):
        pub = rospy.Publisher('turtle1/cmd_vel', Twist, queue_size=10)
        rospy.Subscriber("joy", Joy, self.callback_function, queue_size=10)
        pub.publish(self.twt)

ps = pubSub()
while not rospy.is_shutdown():
    ps.assuming_cont()

1 - What I understand about how a node works is: he run the code in a loop until is shutdown. But this does not answer Why can I still save the last value published in a topic (in my head, if I run my code in a loop I start from the beginning everytime)?

2 - Why is necessary to keep creating a rospy.Publisher and rospy.Subscriber in every loop? it is possible to create those guy one time only?(for example using them into __init__ function in the second example)

3 - What is the difference between while not rospy.is_shutdown(): and if __name__ == '__main__' with rospy.spin()?

4 - What is rospy.spin()? in any documentation says that keeps your node running, but the way I see he stuck the code in that line and keep there only.

If any could give any recommendation to read about those problems and improve my understatement of how work ROS works would thanks a lot!

Hello harumo, I did this before and did not solved, but I al