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Good evening, First of all, i would like to apoligize for my late response but i need to be a bit out of the grid since

Hi everyone,

I am working with a new UR10e robot and a 2F-140 Robotiq Gripper. And the new models of UR robot comes with a set of script functions to control the gripper. The thing is that working this way to command the gripper, you have no information publish by /ur_driver into the robot_state_publisher topic. So I created a node in order to publish the finger_joint value into the robot_state. I know that i have to use joint_state_publisher to achieve this task but I do not know how I have to write the code into the launch file just to publish finger_joint state. I'm launching joint_state_publisher in the following way:

<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen"/>

And ROS publishes all the joint states defined in my MoveIt *.srdf config.

Thanks in advance for your help.

This post was closed because it was off-topic for this forum. I asked in GitHub repository how to solve it and here is t

Thank you for the guide!

Hi everyone,

I have a navigation application and I need a callback to run on another thread rather than the main one. I've search on the internet and I've discovered that you can do such things using ros subscribers as it is shown in this other reference [1]. In this node I need to use ros service communication. My question is how can I setup my ros::AdvertiseServiceOptions::create in order to link that service server advertisment to another thread by using ros::AsyncSpinner?

Thanks in advance for your help!

Thank you!! As I considered it as answered, I'll close the topic

First of all, I'm sorry for not commenting the fact before. But with you last answer, I see that I've totally missundert

In fact, it does so, and I knew the package. But I was looking if there's an already developed API for its direct use wh

Quick conversion from depth images to PointCloud2 Hi everyone, I'm developing a vision algorithm based in PointCloud. A

Thanks for updating the answer!

Hi everyone,

I'm developing an application with an UR10 robot. I want the robot to follow a row of points without stopping when it reaches each of these points. I've made a little research and you can use carthesian planner in order to follow a waythrough path. This way of moving a robot could be a solution if I wouldn't need some flexibility because this row of points can change while the manipulator is moving.

I guess that you can dynamically change these waythrough path points but unless you recompute the trajectory the robot won't change its trajectory to match with these new points. So, my first question is: 1) Is there any way to change this trajectory online (while the robot is moving) in order to match with the new points?

As using waythrough points seems not to be an accurate solution to my application, I've tried with move_group.asynMove() in order to move in a non-blocking way. The problem this solution has is that you might implement your own navigation stack and it can failed if the robot is moving quickly because the start point of the trajectory is not the same as the end point. I've also read that MoveIt! has a navigation stack, but navigation stack notion it's still unclear to me. So, 2) What is the navigation stack? If it might be a solution, 3) How can I use it properly in order to achieve this?

I've worked with ROS for 8 months now and I'm not exactly new in this. But I've never ever used MoveIt with this level of task accuracy and I might be forgeting lots of things. 4) Are there any other ways to move the robot as I want using MoveIt! or should I forget about using MoveIt! and create my own code to feed ROS Controllers?

Thanks in advance for your help and your time!

Thank you very much! I have a look to the package and it seems amazing! I'm sure it will be useful to everyone

Hi everyone,

I'm trying to migrate a project from ROS Kinetic to ROS Melodic. I've developed an application GUI to control a robot, but when I try to install the dependencies for this project in ROS Melodic, the console output tells me that qt-build package is still not developed for this ROS distro. 1) Does anyone know if there's a way to install this packages in ROS Melodic?

In case this option is not allowed, 2) how can I migrate qt user interface into ROS Melodic using qt ros pluggin?

Thanks in advance for your help.

Thank you @Eberty, your comment solved my problem! In order to sum up: 1) qt_build has no compatibility with ROS Melodi

Thanks, I'll have a look!