mortenpj's profile - activity

Unfortunately i don't have a service called clear. I have implemented your last suggestion in my c++ code, and it doesn't seems to work. Can you try to explain why it should work? Maybe it would give me some ideas.

Hi,

I am using the C++ move_group_interface and the GUI (Rviz Plugin), shown in the image below, but then I change a parameter in the C++ interface, it isn't updated in Rviz.

For example if i change the Planning time by this function setPlanningTime() and read it again in the C++ interface i get the right value, but the value shown in Rviz is still the old value.

If i change the Planning Time value in the GUI (Rviz plugin) and tries to write it to the terminal from my c++ code through the C++ interface with the line below, it doesn't know the Planning time value set in the GUI.

ROS_INFO("Planning Time: %f", group.getPlanningTime());

Is there a way to update the parameters in Rviz then they are changed from the C++ interface or vice versa?

I am using:

• ROS Groovy
• Ubuntu 12.04

Hi,

I am trying to make use of actionlib between two packages in the same workspace, but when I "catkin_make" the workspace I get the following error:

workspace/src/skills/src/master.cpp:63:33: fatal error: ur5_proxy/ur5Action.h: No such file or directory

The ur5Action.h plus additional action files are created in another package called ur5_proxy, and is placed in a directory called workspace/devel/include/ur5_proxy

So my question is how do I make use of actionfiles created in the ur5_proxy package in the skills package? I think the problem concerns the CMakelist or the package.xml.

I had the same problem when I saved my CAD model as a .stl file in binary format. It worked for me to save my CAD model as a .stl file in aschii format in SolidWorks.

Thanks for your answer! I made it work with a few corrections to your suggestion. I added the type to acRq3 and acUr5 in the function. Changed acUr5.sendGoalAndWait to acUr5->sendGoalAndWait. And I have passed an argument to the function MoveTo(acUr5).

Hi

I have inserted a shortened version of my files below, but first i'll try to explain my problem. My problem is that I want to define a MoveTo() function within skills.cpp, which uses actionlib client acUR5. I can't define the MoveTo() function without defining acUr5 before the definition of the MoveTo() function in skills.cpp. The acUr5 needs ros::init(), which first have been defined in the main() function. Thus then I run execute_actionlib_client.cpp. I get the error showed in the bottom of this post.

execute_actionlib_client.cpp:

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <rq3_proxy/rq3Action.h>
#include <ur5_proxy/ur5Action.h>
#include "skills/skills.hpp"

int main (int argc, char **argv){

ros::init(argc, argv, "skills_node");

actionlib::SimpleActionClient<rq3_proxy::rq3Action> acRq3("rq3proxynode", true);
actionlib::SimpleActionClient<ur5_proxy::ur5Action> acUr5("ur5Node", true);

rq3_proxy::rq3Goal goalRq3;
ur5_proxy::ur5Goal goalUr5;

MoveTo();

Skills.cpp:

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <rq3_proxy/rq3Action.h>
#include <ur5_proxy/ur5Action.h>

#include "skills.hpp"

actionlib::SimpleActionClient<rq3_proxy::rq3Action> acRq3("rq3proxynode", true);
actionlib::SimpleActionClient<ur5_proxy::ur5Action> acUr5("ur5Node", true); // PROBLEM

rq3_proxy::rq3Goal goalRq3;
ur5_proxy::ur5Goal goalUr5;

void MoveTo(){
    //Viapoint, becore place
    acUr5.sendGoalAndWait(move("j", "car", 60,-508, 212, 1.7574, 0.7509, 1.714, 2, 0, 0, goalUr5),ros::Duration(30.0),ros::Duration(30.0));
    ROS_INFO("Viapoint 2 finished");
}

Problem when run:

private@pc:~/ros_ws/devel_ws$ rosrun skills execute_actionlib_client 
[FATAL] [1384343030.296120354]: You must call ros::init() before creating the first NodeHandle
[FATAL] [1384343030.296325757]: BREAKPOINT HIT
    file = /tmp/buildd/ros-groovy-roscpp-1.9.50-0precise-20131015-2117/src/libros/node_handle.cpp
    line=151

Trace/breakpoint trap (core dumped)

I hope you understand the problem and that you can help

Hi

I have inserted a shortened version of my files below, but first i'll try to explain my problem. My problem is that I want to define a MoveTo() function within skills.cpp, which uses actionlib client acUR5. I can't define the MoveTo() function without defining acUr5 before the definition of the MoveTo() function in skills.cpp. The acUr5 needs ros::init(), which first have been defined in the main() function. Thus then I run execute_actionlib_client.cpp. I get the error showed in the bottom of this post.

execute_actionlib_client.cpp:

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <rq3_proxy/rq3Action.h>
#include <ur5_proxy/ur5Action.h>
#include "skills/skills.hpp"

int main (int argc, char **argv){

ros::init(argc, argv, "skills_node");

actionlib::SimpleActionClient<rq3_proxy::rq3Action> acRq3("rq3proxynode", true);
actionlib::SimpleActionClient<ur5_proxy::ur5Action> acUr5("ur5Node", true);

rq3_proxy::rq3Goal goalRq3;
ur5_proxy::ur5Goal goalUr5;

MoveTo();

Skills.cpp:

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <rq3_proxy/rq3Action.h>
#include <ur5_proxy/ur5Action.h>

#include "skills.hpp"

actionlib::SimpleActionClient<rq3_proxy::rq3Action> acRq3("rq3proxynode", true);
actionlib::SimpleActionClient<ur5_proxy::ur5Action> acUr5("ur5Node", true); // PROBLEM

rq3_proxy::rq3Goal goalRq3;
ur5_proxy::ur5Goal goalUr5;

void MoveTo(){
    //Viapoint, becore place
    acUr5.sendGoalAndWait(move("j", "car", 60,-508, 212, 1.7574, 0.7509, 1.714, 2, 0, 0, goalUr5),ros::Duration(30.0),ros::Duration(30.0));
    ROS_INFO("Viapoint 2 finished");
}

Problem when run:

private@pc:~/ros_ws/devel_ws$ rosrun skills execute_actionlib_client 
[FATAL] [1384343030.296120354]: You must call ros::init() before creating the first NodeHandle
[FATAL] [1384343030.296325757]: BREAKPOINT HIT
    file = /tmp/buildd/ros-groovy-roscpp-1.9.50-0precise-20131015-2117/src/libros/node_handle.cpp
    line=151

Trace/breakpoint trap (core dumped)

I hope you understand the problem and that you can help

Thanks! It's is exactly what I needed! Sorry for my poor python skills! :)

I have just tried to use a global variable in the printActivationStatus function, but when i call the variable it says:

NameError: global name 'globVar' is not defined

Maybe I should mention that the functions is in a file called SModelStatusListener. Generally my question is how I can save data from the callback function printActivationStatus:

rospy.Subscriber("SModelRobotInput", inputMsg.SModel_robot_input,  SModelStatusListener.printActivationStatus)

I have tried:

var = rospy.Subscriber("SModelRobotInput", inputMsg.SModel_robot_input,  SModelStatusListener.printActivationStatus)

But this is not possible.

I hope this clarified my problem..

Hi

I'm fairly new to programming in python and ROS, but my problem is as follows: I am using a robot gripper, and for control purposes i need to read the status of the gripper and save it to a variable, so I can use if in control sequences. I am getting the status of the gripper by subscribing to a topic.

import roslib; roslib.load_manifest('robotiq_s_model_control')
import rospy
from robotiq_s_model_control.msg import _SModel_robot_input  as inputMsg
from robotiq_s_model_control.msg import _SModel_robot_output  as outputMsg

def Callback(data):
    myvar = data

rospy.init_node('rq3_proxy')

while not rospy.is_shutdown():
    rospy.Subscriber("SModelRobotInput", inputMsg.SModel_robot_input, Callback)
    rospy.sleep(1)

    print "myvar is: " + myvar

    if myvar == 1:
         #do something"
    elif myvar == 0:
         #do something else
    else :
         #error

So my question is: how can I make use of the myvar variable outside the Callback function?

Thanks in advance for any help you can provide, and if you need additional info, just ask for it.

/Morten

Solved my problem, thanks!