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2023-06-16 15:44:32 -0500 marked best answer Moveit2 Octomap Setup

I cannot figure out how to get an octomap to show up in moveit2. I can pass a sensors_3d.yaml as parameters to the move_group and without a transform from the camera to the robot and the move group will come up with errors saying there is no transform link between the two. No octomap displays in rviz2 however and the planning scene topics does not have anything publishing. I am unable to run the octomap server manually so far.

move group output when parameters for sensor passed to move group without transform

    [move_group-4] [WARN] [1634575155.847092398] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Unable to transform object from frame 'camera_link' to planning frame'base_link' (Could not find a connection between 'base_link' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.)

occupany node output when launch from file as node after move_group

    [moveit_ros_occupancy_map_server-6] [WARN] [1634576010.368767799] [moveit.ros.occupancy_map_monitor]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
    [moveit_ros_occupancy_map_server-6] [WARN] [1634576010.368801697] [moveit.ros.occupancy_map_monitor]: No target frame specified for Octomap. No transforms will be applied to received data.
    [moveit_ros_occupancy_map_server-6] [ERROR] [1634576010.368816836] [moveit.ros.occupancy_map_monitor]: No 3D sensor plugin(s) defined for octomap updates
    [moveit_ros_occupancy_map_server-6] terminate called after throwing an instance of 'std::runtime_error'
    [moveit_ros_occupancy_map_server-6]   what():  Node has already been added to an executor.
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2021-10-29 11:05:21 -0500 answered a question Moveit2 Octomap Setup

This guy asked the same question then found the result. MoveIt!2 add Pointcloud2 to OccupancyMapMonitor

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2021-10-18 11:57:06 -0500 asked a question Moveit2 Octomap Setup

Moveit2 Octomap Setup I cannot figure out how to get an octomap to show up in moveit2. I can pass a sensors_3d.yaml as p

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2021-03-29 09:01:50 -0500 asked a question Moveit2 execute_trajectory vs controller/follow_joint_trajectory action server

Moveit2 execute_trajectory vs controller/follow_joint_trajectory action server Which one of these hosts the action serve

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2021-03-21 14:01:08 -0500 asked a question Ros2 TCP packet send command causes node crash

Ros2 TCP packet send command causes node crash I have a Ros 2 package created and I need a node that can send a TCP pack

2021-02-28 18:42:30 -0500 asked a question ROS2 Moveit2 Trajectory Execution Topic

ROS2 Moveit2 Trajectory Execution Topic I cannot seem to figure out what topic trajectory executions are published to.

2021-01-25 11:27:01 -0500 marked best answer Ros2 import regular python modules from where

Ubuntu 20.04 ros2 foxy This may be a dumb question but I have not yet run into it so I feel the need to ask. If I am writing a python node and I want some modules from pip (or conda I suppose) such as pyserial, to what do I install the module in order to be able to use it in a ros2 node? If I wanted to use pyserial in a regular python script for a project, I would go to my venv that I use for misc projects and pip install pyserial from that environment, then use it. Am I supposed to run

python3 -m pip install -U pyserial

just for my system python? Because I've always made some sort of venv for my projects because gumming up the system with random modules usually results in me breaking something or causing some sort of package conflict. I know I can run limited ros functions from a venv (done it through an anaconda env once before to be able to run tensorflow2 in python3 in ros melodic) but I cant see that being something that is regular practice. For C++ I can just put the header/source files in a library type folder inside the ros package so that isn't an issue.

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2021-01-25 11:25:40 -0500 commented question How to transform the rotation around Z axis in Lidar to Y axis in Camera frame?

Have you tried using the static tf publisher? You can run a simple one from a roslaunch file.

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2020-12-04 05:32:22 -0500 commented question Moveit fails on multistep execution

@gvdhoorn yes it is, my bad i forgot to include it. Going to try it on a fanuc lr mate later this month to see if the is

2020-12-04 05:31:00 -0500 edited question Moveit fails on multistep execution

Moveit fails on multistep execution I have a basic ros (melodic) python node where i can enter multiple points and the r

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2020-12-04 03:40:04 -0500 asked a question Moveit fails on multistep execution

Moveit fails on multistep execution I have a basic ros (melodic) python node where i can enter multiple points and the r

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2020-11-15 09:12:54 -0500 asked a question Import regular python modules into Ros2 node

Import regular python modules into Ros2 node Ubuntu 20.04 ros2 foxy This may be a dumb question but I have not yet run i

2020-11-15 09:11:13 -0500 asked a question Ros2 import regular python modules from where

Ros2 import regular python modules from where Ubuntu 20.04 ros2 foxy This may be a dumb question but I have not yet run

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2020-10-12 12:38:24 -0500 edited answer motoman_driver: failure to write to address 30035

For those interested, you cannot write to the external output directly but OUT#9-16 (general purpose output group 2) is

2020-10-12 12:37:26 -0500 answered a question motoman_driver: failure to write to address 30035

For those interested, you cannot write to the external output directly but OUT#9-16 (general purpose output group 2) is

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2020-10-12 12:34:18 -0500 commented answer motoman_driver: failure to write to address 30035

@gvdhoorn Thanks for the info, completely spaced as usual on checking for constraints. I've figured out a workaround tho

2020-10-12 11:21:02 -0500 asked a question motoman_driver: failure to write to address 30035

motoman_driver external IO writing I have the latest motoman driver and I am able to write to the general purpose IO (ad

2020-09-24 10:26:05 -0500 commented question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

@gvdhoorn I have a moveit_planning_execution.launch file which launches the drivers for my yaskawa gp12, robotiq hande,

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2020-09-24 08:49:03 -0500 commented question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

To clarify, I did also remake my moveit config based on this xacro.

2020-09-24 08:47:47 -0500 commented question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

@gvdhoorn I remade the xacro as you said, utilizing the macro.xml's but unfortunately I have the exact same tf tree. Her

2020-09-24 07:10:58 -0500 commented question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

@gvdhoorn apologies as I have limited ROS experience but it was my understanding that the .xacro (non macro version) of

2020-09-24 07:10:45 -0500 commented question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

@gvdhoorn apologies as I have limited ROS experience but it was my understanding that the .xacro (non macro version) of

2020-09-24 07:09:25 -0500 commented question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

@gvdhoorn apologies as I have limited ROS experience but it was my understanding that the .xacro (non macro version) of

2020-09-23 14:03:01 -0500 asked a question robotiq_2f_85/140 does not have fingers attached to base_link in tf tree

robotiq_2f_85/140 does not have fingers attached to base_link in tf tree I am attempting to add the robotiq hande grippe

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2020-09-14 09:27:42 -0500 answered a question Mapping moveit execution output to robot topic

Nevermind, I figured out that the move_group gets the controller information from "controllers.yaml" and sends movements