karen0603's profile - activity

Thank you very much, I am using planning of motion_planning_rviz_plugin to display the pose of every joint, I am wondering if I can get pose information directly from motion_planning_rviz_plugin::planning? Thank you

Thank you, I will try to do what you have suggested. I am using Fuerte.

Hi everyone,

I am doing arm trajectory planning. Now I am using motion_planning_rviz_plugin to display the trajectory of the arm. First I wrote program reference to link text and then RVIZ subscribe the topic "joint_path_display". I can display the trajectory just like the picture ! Now I want to get the position data of every joints which I circled with red colour on the image. How can I get the position information of every joint?

Thanks in advance

Yes, you should use rosbuild in ROS Fuerte. Maybe you can reference the Ros answer: link text

link text that is for fuerte

Thanks for your help

Hi everyone, Now I am doing 6dof arm path planning. I need to control the robot arm from one position to another position. I first have to get the IK and then plan a path. The getik programs are as follow. I just hope to get IK from 4 joints(other 2 joints are set to zero). I am wondering what should I do? And another question: what is the principle of kinematics_msgs::GetKinematicSolverInfo?

kinematics_msgs::GetKinematicSolverInfo::Request l_request,r_request;
kinematics_msgs::GetKinematicSolverInfo::Response l_response,r_response;
  kinematics_msgs::GetPositionIK::Request  l_gpik_req;
  kinematics_msgs::GetPositionIK::Response l_gpik_res;
    quat = tf::createQuaternionFromRPY(phi*180/PI,theta*180/PI,psy*180/PI); l_gpik_req.ik_request.pose_stamped.pose.position.x = x; 
 l_gpik_req.ik_request.pose_stamped.pose.position.y = y; 
 l_gpik_req.ik_request.pose_stamped.pose.position.z = z; 
 l_gpik_req.ik_request.pose_stamped.pose.orientation.w =quat[3]; 
l_gpik_req.ik_request.pose_stamped.pose.orientation.x =quat[0];  l_gpik_req.ik_request.pose_stamped.pose.orientation.y=quat[1];  
l_gpik_req.ik_request.pose_stamped.pose.orientation.z =quat[2];
  if(l_ik_client.call(l_gpik_req, l_gpik_res)){
    if(l_gpik_res.error_code.val == l_gpik_res.error_code.SUCCESS)
            ROS_INFO("Solution for Left Arm Found );
      else
            ROS_DEBUG("Left Arm Inverse kinematics failed");
        }

thanks advance

Thanks for your responds very much. In fact we already have a urdf file and can drive reality robot arm through warehouse-viewer .we try to get the ik and drive the arm to some positions. I just wondering sometimes the Ik solution can get, but round data then can not get ik solution( above data)

Thank you very much, it worked.

Thank you very much , now i will try to do what you have suggested.

Thank you. I downloaded the erratic_robot-master.zip and make it, and then use catkin_make command, but package player(erratic robot) still can not be found. how can i converted it to catkin? I already installed it in fuerte, now i have two version in my computer

Hi everyone I want to migrate fuerte package to hydro. Before the package depend on erratic robot package. How can i install erratic-robot on hydro? Thanks

Hi everyone, I am planning the trajectory of 6dof robot arm to move arm from a initial position to a new position. First I have to get the ik solution and then plan in joint space. When using kinematics_msgs::GetPositionIK::Request and response to get the ik, usually can not get a IK solution. Such as: When i use position(.235,-.2996,-.3011) and quaternions(.674056,-.73868,0,0) , can get the IK solution. If the position is (.235,-.3,-.3) and quaternions are the same are (.674056,-.73868,0,0) , can not get the IK solution. The data nearly is the same. How to solve such problem? I am using ros fuerte on Ubuntu12.04 Thanks advance

Thanks for your answer. This link text is helpful. I have to get roll,pitch,yaw at the point B first, and then use the function what you have suggested to get quaternion.

I saw function:
static tf::Quaternion tf::createQuaternionFromRPY ( double roll, double pitch, double yaw
) [inline, static] I need first get roll, pitch, yaw, do you think there is a function in ROS which I can get roll, pitch ,yaw? Thank you

Thank you very much, I will try.

Hello all, I am doing some arm planning about my robot. I have a point B(x2,y2,z2) in space where I want the end-effector A(x1,y1,z1) to go.

In my opinion, I had better get the quaternion of point B first, then get the IK using point B and quaternion, after that I can use arm_navigation_msgs::GetMotionPlan to do a plan.

but I am unsure how to produce the quaternions.

or any other good method to plan end-effector from A to B?

Thanks in advance.

I run line: $ roslaunch beginner_tutorials turtlemimic.launch

the error is : cannot locate [turtlemimic.launch] in package [beginner_tutorials] Thanks

Look up in the rosbag or subscribe the topic and then save the data in a array or a file.

Hi everyone, I am using ROS fuerte and doing robot imitation human's action. Now I want to get joint configuration information running "rosrun skeleton_markers skeleton_tracker", but it has a mistake as below:

**InitFromXml failed: File not found!

Segmentation fault (core dumped)**

I can rosmake skeleton_markers. In fact, when I use pi_tracker package, the same error.

Thanks

thanks, it works