BrandDebiel's profile - activity

Found out the answer after some more web research: Basically get the current state, set the joints to whatever position

Found out the answer after some more web research: Basically get the current state, set the joints to whatever position

Set robot to position without planning Dear All, I have been searching around the web for a solution for this as I thin

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

Thanks again for helping me out!!

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

With the code below I try to get a collision object into Rviz. For some reason the stl mesh is not showing in the 3D viewer. However the object I am trying to insert is based on the exact same stl which I have attached to the robot as an end-effector. I have no problems getting the end-effector visible on the robot.

In the piece of code below I try to create a collision object from an stl and add it to the collision objects vector. This vector already contains objects that are based on primitives. These primitives are visible except the stl based object. When importing the stl in the Rviz gui it works perfectly, so I guess the stl file seems to be fine.

//Add STL object to world
ROS_INFO("Load mesh file...");
Eigen::Vector3d vectorScale(1, 1, 1);
moveit_msgs::CollisionObject collision_object_hBeam;
collision_object_hBeam.header.frame_id = move_group.getPlanningFrame(); //Added this line to get the code working
collision_object_hBeam.id = "hBeam";

std::string packagePath = ros::package::getPath("moveit_tutorials");
ROS_INFO("PackagePath: %s", packagePath.c_str());

shapes::Mesh *meshObject = shapes::createMeshFromResource(
          "file:///home/dvdv/ws_robotplatform/src/moveit_tutorials/markerTool.stl", vectorScale);

shape_msgs::Mesh mesh;
shapes::ShapeMsg meshMessage;
shapes::constructMsgFromShape(meshObject, meshMessage);
mesh = boost::get<shape_msgs::Mesh>(meshMessage);

geometry_msgs::Pose hBeamPose;
hBeamPose.orientation.w = 1;
hBeamPose.orientation.x = 0;
hBeamPose.orientation.y = 0;
hBeamPose.orientation.z = 0;
hBeamPose.position.x = 1.0;
hBeamPose.position.y = 1.0;
hBeamPose.position.z = 1.0;


collision_object_hBeam.meshes.push_back(mesh);
collision_object_hBeam.mesh_poses.push_back(hBeamPose);
collision_objects.push_back(collision_object_hBeam);

//Add objects to world ROS_INFO_NAMED("tutorial", "Add an object into the world"); planning_scene_interface.addCollisionObjects(collision_objects);

EDIT: I noticed I also get an error message, when I do not add the mesh the error does not come up. So I am sure it has something to do with it:

[ERROR] [1588345900.710790122]: Unknown frame:

EDIT: Code should look like this in order for it to work:

moveit_msgs::CollisionObject collision_object_hBeam;
collision_object_hBeam.header.frame_id = move_group.getPlanningFrame(); //This line was missing in the code snippet above
collision_object_hBeam.id = "hBeam";

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

stl mesh does not become visible in Rviz With the code below I try to get a collision object into Rviz. For some reason

Dear All,

I am having some trouble importing an stl file into my scene. I am able to import the stl file into the scene trough the Rviz gui in the 'scene objects' tab and the part becomes visible in the Rviz 3D view. However when I try to import the file through the source code I get an error '<url> malformed'.

Source:

//Add STL object to world
ROS_INFO("Load mesh file...");
Eigen::Vector3d vectorScale(0.001, 0.001, 0.001);
moveit_msgs::CollisionObject collision_object_hBeam;
collision_object_hBeam.id = "hBeam";

std::string packagePath = ros::package::getPath("moveit_tutorials");
ROS_INFO("PackagePath: %s", packagePath.c_str());

shapes::Mesh* meshObject = shapes::createMeshFromResource(
           packagePath + "/markerTool.stl", vectorScale);

shape_msgs::Mesh mesh;
shapes::ShapeMsg meshMessage;
shapes::constructMsgFromShape(meshObject, meshMessage);    
mesh = boost::get<shape_msgs::Mesh>(meshMessage);

objectsQuaternionTransformation.setRPY(0,0,0);
geometry_msgs::Pose hBeamPose;
hBeamPose.orientation.w = objectsQuaternionTransformation.w();
hBeamPose.orientation.x = objectsQuaternionTransformation.x();
hBeamPose.orientation.y = objectsQuaternionTransformation.y();
hBeamPose.orientation.z = objectsQuaternionTransformation.z();
hBeamPose.position.x = 1.0;
hBeamPose.position.y = 1.0;
hBeamPose.position.z = 1.0;

collision_object_hBeam.meshes.push_back(mesh);
collision_object_hBeam.mesh_poses.push_back(hBeamPose);
collision_objects.push_back(collision_object_hBeam);

//Add objects to world
ROS_INFO_NAMED("tutorial", "Add an object into the world");
planning_scene_interface.addCollisionObjects(collision_objects);

The path to the file is correct when I check it in the terminal, the error message path is the same as the path to the file:

[ INFO] [1588177076.809570135]: Load mesh file...
[ INFO] [1588177076.809648012]: PackagePath: /home/dvdv/ws_robotplatform/src/moveit_tutorials
[ERROR] [1588177076.809757275]: Error retrieving file [/home/dvdv/ws_robotplatform/src/moveit_tutorials/markerTool.stl]: <url> malformed [move_group_interface_tutorial-1] process has died [pid 20898, exit code -11, cmd /home/dvdv/ws_robotplatform/devel/lib/moveit_tutorials/move_group_interface_tutorial __name:=move_group_interface_tutorial __log:=/home/dvdv/.ros/log/f5fee402-89e5-11ea-8d3a-0800272243ce/move_group_interface_tutorial-1.log]. log file: /home/dvdv/.ros/log/f5fee402-89e5-11ea-8d3a-0800272243ce/move_group_interface_tutorial-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done 

File is present:

dvdv@dvdv-ROS:~/ws_robotplatform$ cd src/moveit_tutorials/
dvdv@dvdv-ROS:~/ws_robotplatform/src/moveit_tutorials$ ls
build_locally.sh  conf.py  index.rst       mark_tool_text.stl  README.md    _scripts _themes
CMakeLists.txt    doc      markerTool.stl  package.xml         rosdoc.yaml  _static dvdv@dvdv-ROS:~/ws_robotplatform/src/moveit_tutorials$ 

Something seems to go wrong with locating the file as far as I can interpreted this error message.

Does anybody have a suggestion in the right direction? Thanks in advance.

Thanks for your quick reply. This helpt a lot!

Unable to open stl file into scene in C++ Dear All, I am having some trouble importing an stl file into my scene. I am

Dear All,

With the MoveIt Setup Assistant I managed to generate a configuration as described in one of the MoveIt tutorials. Now I want to edit that particular configuration by pressing the 'Edit Existing MoveIt Configuration Package' button. I would expect that you can browse to the folder where the configuration is stored and open it. In my case 'home/catkin_ws/src/test_moveit_config'. But all the files in that and the underlaying folders are greyed out. Has this something to do with the fact that the right file is not present in those folders? Or does it might have something to do with access rights from Ubuntu? Online I am unable to find anything that points me in the right direction as in every tutorial new configurations are made instead of editing existing ones. Any help is appreciated. Thanks.

Solution: Open the folder that contains the package.xml in you saved configuration. No need to open a particular file as the configuration is stored as a package.

How to edit configuration in MoveIt? Dear All, With the MoveIt Setup Assistant I managed to generate a configuration as

Got, it! Works like charm. I already figured it couldn't be that difficult. Thanks a lot!

How to edit configuration in MoveIt? Dear All, With the MoveIt Setup Assistant I managed to generate a configuration as