Zonared's profile - activity

Me again, after more research and experimenting I've discovered the jumping around is related to the fact that the 'syst

I believe I may have spoke too soon. Changing the footprint dynamically causes jumps in the robots position. It's like t

I did it this way here, seemed to work ok, a bit hacky but there doesn't appear to be a proper documented way that I can

I did it this way link text, seemed to work ok, a bit hacky but there doesn't appear to be a proper documented way that

Hi there, I don't know if you solved this or not but I found a workaround here. If you did solve it, what did you end up

I'm not sure if this is the correct way to solve it, or this should be the 'answer' but I managed to get my robot footpr

Hi there, I'm still searching for the correct way to do this, cant find the answer. i found this link https://answers.ro

Hi there, I'm still searching for the correct way to do this, cant find the answer. i found this link https://answers.ro

what is the correct way to change dynamic footprint? Hello everyone, I am trying to change the shape of my polygon footp

Hi danambrosio, I only just noticed this here. Thanks heaps, I knew there would be a proper way to do it. Cheers, 🙂

translate between tf within a single robot Hi there everyone, I hope my question is understandable and answerable. Befo

Hi everyone, I was just wondering if anybody had had any suggestions for this question? Thanks again.

Hi there everyone, my question is this, how do I get MoveIt gripper_action or GripperCommand to control a ros_control position_controllers/JointPositionController type joint?

My configuration was talked about here

I have configured a controllers.yaml file in the MoveIt robot config package folder. like this:

ros_control_namespace: /
#controller_manager_ns: controller_manager
controller_list:
 - name: arm_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: false
   joints:
     - jt1_joint
     - jt2_joint
     - jt3_joint
     - jt4_joint
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5

 - name: gripper_controller
   action_ns: gripper_action
   type: GripperCommand
   default: false
   parallel: false
   joints:
      - jt5_joint

initial:  # Define initial robot poses.
  - group: jaycar_arm
    pose: home

The above doesn't work, it says

[ WARN] [xxxx.yyyy]: Waiting for gripper_controller/gripper_action to come up
[ERROR] [xxxx.yyyy]: Action client not connected: gripper_controller/gripper_action

My jt5_joint is running as a ros controller as a position_controllers/JointPositionController which i can control using

rostopic pub /gripper_controller/command std_msgs/Float64 "data: 0.1"

How do i convert to something that MoveIt can use or configure MoveIt so it works with my joint control type?

I tried using moveit_ros_control

<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager"/>

instead of

<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>

But that didn't help.

I'm hoping someone would be able steer me in the right direction. It seems that MoveIt only supports two types of controllers, the FollowJointTrajectory and GripperCommand. I cant find a list of supported controllers that match the ros_control controllers of which there are heaps of different types. Am I missing something? Thanks heaps in advance.

I appreciate that linking to Google drive is not a preferred option but at the time I didn't have enough karma points. T

translate between tf within a single robot Hi there everyone, I hope my question is understandable and answerable. Befo

translate between tf within a single robot Hi there everyone, I hope my question is understandable and answerable. Befo

Solved it by putting the path (properly not the correct terminology) inside the " " section. ros::ServiceClient client

Solved it by putting the path (properly not the correct terminology) inside the " " section. ros::ServiceClient client

I was just wondering if anybody has ever tried to access a rosservice served by a nodelet? My trigger_test cpp will only

I am also presented with a similar scenario with my robot lawn mower, which is outside and I would like it to drive up h

Answer is in my own comment.

roscpp ServiceClient to standalone nodelet Hi there, I hope my question is easy to answer. I'm trying to software trigge

I don't know if I should answer my own question or not, so I'll post a comment until told otherwise. I solved my proble

I don't know if I should answer my own question or not, so I'll post a comment until told otherwise. I solved my proble

ROS MoveIt GripperCommand directed to position_controllers Hi there everyone, my question is this, how do I get MoveIt g

how do you create a group of joints for MoveIt Planning Group for a custom robot Hi everyone, first time posting. My qu

Thanks again for your help, you were indeed correct. It works as expected! I added this to the bottom of my ros_controll