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2023-01-18 02:53:24 -0500 | marked best answer | [MoveIt] Executed motions are always slightly off from waypoints Hi all, I've been using MoveIt motion planning (OMPL) to simulate pick&place in the Gazebo environment. And I've noticed that the end-effector of the robot in the simulation is always off (~3cm) from given waypoints it needs to follow. At the first time, I tried to set a specific tolerance value using MoveGroupCommander.get_goal_position_tolerance, however it did not make much difference. Then, I tried to reduce eef_step when using compute_cartesian_path. It still did not work as expected. Right now, I'm suspecting that there is something wrong with my controller parameters that hinder the robot to reach to deisred waypoints. Are there any other factors that potentially cause this kind of behavior? |
2023-01-18 02:53:10 -0500 | answered a question | [MoveIt] Executed motions are always slightly off from waypoints I'll answer my own question. Indeed, my controller PID gains were too off to follow the planned trajectory. After tunin |
2023-01-10 22:40:41 -0500 | edited answer | The best way to spawn objects in both rviz and gazebo I will answer my own question here: I decided to spawn objects only in gazebo to simulate automated object pick up. To |
2023-01-09 23:45:25 -0500 | edited question | [MoveIt] Executed motions are always slightly off from waypoints [MoveIt] Executed motions are always slightly off from waypoints Hi all, I've been using MoveIt motion planning (OMPL) |
2023-01-09 23:45:17 -0500 | edited question | [MoveIt] Executed motions are always slightly off from waypoints [MoveIt] Executed motions are always slightly off from waypoints Hi folks, I've been using MoveIt motion planning (OMPL |
2023-01-09 23:44:52 -0500 | asked a question | [MoveIt] Executed motions are always slightly off from waypoints [MoveIt] Executed motions are always slightly off from waypoints Hello, I've been using MoveIt motion planning (OMPL) t |
2023-01-09 16:46:37 -0500 | marked best answer | The best way to spawn objects in both rviz and gazebo Hi all, I'm trying to generate a simulation that automatically executes grasping multiple times to collect success/fail of the specific grasp configuration. Currently, I have robot moveit package (rviz&gazebo), STL files of objects, and goal end-effector poses with respect to the objects' coordinate systems. At the moment, my primary goal is to spawn an object and a robot simultaneously to use tf (from robot base to object) to define the goal pose of an end-effector for gazebo simulation. My initial idea of how to setup the simulation is to convert the object STL file to the URDF and load it as part of the robot in both rviz and gazebo. Is there any better idea to achieve the primary goal? I appreciate any comment, suggestion, and information. |
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2023-01-09 16:46:24 -0500 | answered a question | The best way to spawn objects in both rviz and gazebo I will answer my own question here: I decided to spawn objects only in gazebo to simulate automated object picking. To |
2023-01-09 16:43:02 -0500 | edited question | The best way to spawn objects in both rviz and gazebo The best way to spawn objects in both rviz and gazeo Hi all, I'm trying to generate a simulation that automatically exe |
2022-12-19 16:02:31 -0500 | edited question | The best way to spawn objects in both rviz and gazebo The best way to spawn objects in both rviz and gazeo Hi all, I'm trying to generate a simulation that automatically exe |
2022-12-19 15:55:40 -0500 | asked a question | The best way to spawn objects in both rviz and gazebo The best way to spawn objects in both rviz and gazeo Hi all, I'm trying to generate a simulation that automatically exe |
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2022-12-19 14:26:23 -0500 | edited answer | Noise covariance from sensors are 0....? Short Updates: According to Toyota Research Institute (supplier of the official ROS package of the HSR), they do not ha |
2022-12-19 14:23:56 -0500 | answered a question | Noise covariance from sensors are 0....? Short Updates: Unfortunately, Toyota Research Institute (supplier of the official ROS package of the HSR) do not have t |
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2022-03-15 01:41:09 -0500 | asked a question | How does a ros node handle multiple subscribers? How does a ros node handle multiple subscribers? Does the node deal with these subscribers (or publishers) sequentially |
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2022-02-15 13:22:26 -0500 | edited question | How to treat a global visual odometry in the robot localization package. How to treat a global visual odometry in the robot localization package. Greeting, I'm using ekf from the robot localiz |
2022-02-14 07:30:24 -0500 | edited question | How to treat a global visual odometry in the robot localization package. How to treat a global visual odometry in the robot localization package. Greeting, I'm using ekf from the robot localiz |
2022-02-14 07:30:07 -0500 | edited question | How to treat a global visual odometry in the robot localization package. How to treat a global visual odometry in the robot localization package. Greeting, I'm using ekf from the robot localiz |
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2022-02-13 17:29:35 -0500 | edited question | How to treat a global visual odometry in the robot localization package. How to treat a global visual odometry in the robot localization package. Greeting, I'm using ekf from the robot localiz |
2022-02-13 17:28:55 -0500 | edited question | How to treat a global visual odometry in the robot localization package. How to treat a global visual odometry in the robot localization package. Greeting, I'm using ekf from the robot localiz |
2022-02-13 14:18:20 -0500 | edited question | How to treat a global visual odometry in the robot localization package. How to treat a global visual odometry in the robot localization package. Greeting, I'm using ekf from the robot localiz |