srujan's profile - activity

Thanks for your suggestions. I can surely create a rough model to simulate with ROS. Just wondering if there's a package

Has anyone ever tried modelling Cavro Omni Robots using ROS? Here is a Cavro Tecan Omni Z Robot. I want to model it usin

Has anyone ever tried modelling Cavro Omni Robots using ROS? Here is a Cavro Tecan Omni Z Robot. I want to model it usin

Did you try to automatically install the dependencies using rosdep install --from-paths src --ignore-src -r -y from your

Did you try to automatically install the dependencies using rosdep install --from-paths src --ignore-src -r -y ?

Can I create a Controlled Visualization of moveit in RViz? I want to have a control on what and when I visualize on RViz

I am trying to obtain pose of a collision object that I added to the scene.

I have two nodes (node1 and node2), I also have a launch file which launches a custom world.

node1 does all the planning and collision checking stuff. Works well

node2 is to spawn a part into my custom world and attach it to a link(not a manipulator link). I'm using planning_scene_interface to add a mesh collision object to the scene and also updating the collision between the link and the part using setEntry() for allowedCollisionMatrix. I am then using using planning_scene_monitor to publish the updates into the scene. All this works well.

Now, in the node1 I want to obtain the pose of the collision object that I added from node2. I found that I can use move_group/monitored_planning_scene topic to get the information of the complete scene. From this answer I read that move_group/monitored_planning_scene topic publish msgs only if there is a change in the scene or if we explicitly make a service request to update the scene and get information out of it.

My question is how do I access the pose of a collision object after making that request? do I need to write a subscriber and callback for the move_group/monitored_planning_scene topic to read the pose information?

EDIT: I tried making a planning_scene_monitor->requestPlanningSceneState("/get_planning_scene") to get a response on move_group/monitored_planning_scene topic, msgs are being published on the topic whenever I make a request, but those msgs does not show the information of the added collision object.

My end goal for getting this pose information is to transform this pose using a transformation_matrix to rotate and/or translate this collision object from node1 itself.

Is this the right way of doing it? or is there a more straight-forward way to read the pose of the collision object? I see there is a topic being published /collision_object, does this topic publish any useful information that I'm trying to find? I don't see anything being published to it

planning_scene.isStateColliding() function reports a collision even though there is no collision I am using planning_sce

planning_scene.isStateColliding() function reports a collision even though there is no collision I am using planning_sce

I am using a UR10 real robot. I am not using Universal_Robots_ROS_Driver for robot control. I am using moveit move_group to do collision check for a pair of start_state and goal_state in joint-space. I am simply using move_group.plan() method to figure out if a collision-free path exists between the two states. It works. But, we control the robot using MoveJ commands, So I am trying to figure out if the collision-free path that is generated by the move_group.plan() and the paths that are in-general generated by MoveJ command are both same?

If not, what is the correct way of doing this?

if yes, is there a better way to do this?

What is the frame of a collision object attached to a link? I have successfully attached a mesh file as a collision obje

I have .STL files for my robot model. Can we use the same .STL files for both visual representation and collision representation while building URDF?

Can we use a same .STL file for both visual and collision while building URDF? I have .STL files for my robot model. Can

I have a scene with UR10 arm mounted on wall. I also have a table. I have this entire scene configured using moveit setup assistant.

I launch the scene. I then run a node(part_spawner) which spawns a mesh on the table(I am doing this by loading a mesh and adding this mesh as a collision object to planning_scene_interface). My rviz screen properly loads it and spawns it, as expected rviz also shows that there is a collision between the table and the mesh. But when I check for the collisions in the same node(part_spawner) using planning_scene.CheckCollision(collision_request, collision_result, copied_state, allowed_collision_matrix), the collision_result does not return any contact between table and mesh. I'm guessing this should ideally return a pair of contact (table, mesh)

My goal is to manually disable this specific collision by adding the pair (table, mesh) to the Allowed Collision Matrix using allowedCollisionMatrix.setEntry('table', 'mesh', true). But the collision is not being detected in the first place.

Is this the right way of doing it?

Is there a better way to do it?

I was able to get the pose of the collision objects by making a service request to /get_planning_scene. Added code snipp

How to obtain pose of a mesh that I added as a collision object? I am trying to obtain pose of a collision object that I

Thanks for the answer @fvd . I used this post as a reference to get this working

How to obtain pose of a mesh that I added as a collision object? I am trying to obtain pose of a collision object that I

Are you sourcing your terminal before using ros2? Try doing this source ~/ros2_foxy/ros2-linux/setup.bash You may want

create two different workspaces, each for the single robotic system (They could talk together? How?) catkin config --ex

These are some of the tutorials that might help you on this tutorial1, tutorial2

Looks like your ros2 topic echo /image_raw is not returning any message. Could you make sure your sensor_msgs/Image mes

You also need to specify the directory where these message files are located. something like this add_message_files(

If you are looking to build something similar to turtlebot, to understand how ROS works on the real robots (or) to build