Flavian's profile - activity

Hi everyone,

I am using tf and an ik solver which offers two services: get_ik and get_fk (that's supposed to be generic). Is there a node that can subscribe to tf, use get_fk and publish on a "cartesian pose" topic? And another for the inverse calculation (ie subscribe to cartesian pose, do get_ik, and publish to tf). I could create one, but this seems like a standard procedure.

Thanks

Hello everyone,

I would like to encapsulate an Orocos deployer into a ROS node. The deployer is an XML file that should be independant from the ROS files. I want to create a ROS node, load the XML file, and then run the node with minimal user implication (ideally the user should not notice that the node is a wrapper around Orocos). I am looking for any ressource or example that could help me with that. I am using the orocos_toolchain package in ROS.

Thanks

I am creating a node that has to publish the pose (and if possible twist) of the end effector.

My robot publishes a tf which I think could be used in this fashion. But I would also like to benefit from MoveIt's high-level API which allows to give names to the end effectors.

Additional question: if you have anything for the end effector twist, that would be very helpful.

Hello everyone.

I read the very good tutorials on messages/services and publishers/subscribers. I am currently using roscpp but I guess this question is not limited to it. After going through the tutorials, I wanted to apply what I learnt to MoveIt: generate a trajectory through the JoinTrajectory message and publish it to the joint_action_trajectory topic.

I am trying to figure out:

1. If there is an easy way to construct such a message which wouldn't require me filling every field by hand (can we feed an std::vector? Is there a constructor? How do I know so I can generalize to other messages?)
2. What should I put in the "include", what should I put in package.xml and CMakeLists.txt (for catkin in my case)? Again, how do I find that out?

Thanks

Hello everyone,

I want to use a robot from the ROS industrial package (the Motoman arm). I have an Orocos module that generates cartesian commands, but I am still confused about the whole chain inside ROS Groovy.

I have an URDF for the Motoman (available in the package). I'd like to be able to visualize the robot in a simulator and perform inverse kinematics on the cartesian values (which are Eigen types). I would also like to send the resulting joint positions to the robot.

I would need documentation pages, packages names, information about the types being exchanged, and it would be nice if I had nearly no code to write at all (which seems like a decent wish, since we have an IK solver, and a simulator through MoveIt. But I don't know how to plug it all together).

Many thanks

I have been following the following tutorial : "urdf/Tutorials/Using urdf with robot_state_publisher", but when I run "roslaunch r2d2 r2d2.launch", I have the following error: "cannot locate node of type [r2d2/state_publisher]".

I have to admit that I overlooked the statement "(throughout this example, we assume package name "r2d2" and node name "state_publisher")", so I have no file corresponding to a state_publisher. What's the solution?