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2019-11-12 10:16:29 -0500 commented question Moveit "moveit_ros_move_group/move_group" nodes in a namespace

@thibs-sigma No and I don't think there is any way to call two move_group.execute() actually. What I did instead was co

2019-11-12 10:15:47 -0500 commented question Moveit "moveit_ros_move_group/move_group" nodes in a namespace

@thibs-sigma No and I don't think there is any way to call two move_group.execute() actually. What I did instead was co

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2019-10-21 12:06:16 -0500 edited question Moveit "moveit_ros_move_group/move_group" nodes in a namespace

Moveit move_group nodes in a namespace I am trying to have a multi-robot setup in Moveit for some time now. I followed t

2019-10-21 12:04:57 -0500 asked a question Moveit "moveit_ros_move_group/move_group" nodes in a namespace

Moveit move_group nodes in a namespace I am trying to have a multi-robot setup in Moveit for some time now. I followed t

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2019-09-06 09:29:02 -0500 marked best answer Getting final robot state from a moveit plan

I want to plan two consecutive motions on a move group. How can I do that without executing the first plan. Not that I cannot put the first goal as viapoint because I need to execute some other actions unrelated to the robot.

On the tutorials I also saw something like this:

   start_state.setFromIK(joint_model_group, start_pose2);
   move_group.setStartState(start_state);

But obviously this cannot guarantee continuous joint motion if there are mutiple IK solutions, I think.

My current code is this:

    moveit::planning_interface::MoveGroupInterface::Plan plan1;
    move_group.setPoseTarget(pose1);
    bool success = (move_group.plan(plan1) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
    if (!success) {
        ROS_ERROR_STREAM("plan1 failed");
        return false;
    }

    moveit::planning_interface::MoveGroupInterface::Plan plan2;
    /*
    I want to get endState of plan1 here, something like:
    move_group.setStartState(plan1.getEndState());
    */
    move_group.setPoseTarget(pose2);
    bool success = (move_group.plan(plan2) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
    if (!success) {
        ROS_ERROR_STREAM("plan2 failed");
        return false;
    }
2019-09-06 09:28:56 -0500 answered a question Getting final robot state from a moveit plan

I found the solution after some while. It is not as clean as I would like it to be but here it is. robot_state::RobotSt

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2019-09-06 06:41:28 -0500 asked a question Getting final robot state from a moveit plan

Getting final robot state from a moveit plan I want to plan two consecutive motions on a move group. How can I do that w

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2019-08-06 03:36:42 -0500 marked best answer Gazebo delete_model problem

I have a slightly curious problem with /gazebo/delete_model service. I have a scene with some robots and spawn some simple boxes in runtime. Then to reset the environment, I call delete_model service for the objects as following.

for model_name in model_names:
        rospy.loginfo(model_name)
        try:
            res = self.delete_service(model_name)
            rospy.loginfo(res)
        except Exception as exc:
            rospy.loginfo("Service did not process request: " + str(exc))

If there are only 1-2 objects it works fine but if there are more the service freezes removes some of them and then freezes at a random object 90% of the time. When it is frozen, if I manually delete the model from gazebo UI, service call actually returns "successfully deleted" message. Then it gets stuck on the next object. In the sample code, it freezes on "delete_service" call.

I tried a couple of things. First, I tried an empty scene and it worked fine, somehow the fact that there are more models in the scene causes the freeze.

Second, in my scene, before deleting the models I stop gzclient. After deleteing is done, I start gzclient again. And this seems to also work up to like 70-80 objects, after that it also gets some occasional freezes.

I have seen some similar old questions about delete_model freeze in here so I get the feeling this is a bug in gazebo.

My question is: is there a solution or any kind of workaround for this? Also, is this a known issue?

P.S.: My setup is ros-melodic and gazebo9

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2019-08-06 03:36:34 -0500 answered a question Gazebo delete_model problem

After seeing several unanswered questions on Gazebo answers and Ros answer, I am pretty sure the problem is an actual bu

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2019-07-30 12:51:56 -0500 asked a question Gazebo delete_model problem

Gazebo delete_model problem I have a slightly curious problem with /gazebo/delete_model service. I have a scene with som