robertjbush's profile - activity

@osilva, thanks for the link, although I had already seen and tried that before posting here. As I said in my previous p

@osilva, thanks for the link, although I had already seen and tried that before posting here. As I said in my previous p

@osilva, thanks for the link, although I had already seen and tried that before posting here. As I said in my previous p

I agree, and have done those searches. Hardware acceleration for ML tasks works but not for OpenGL.

Yes, but as ROS seems to be one of the leading use cases for both WSL and hardware accelerated OpenGL docker containers

WSL2 + Docker + OpenGL + NVIDIA not working (uses llvmpipe instead) Summary I am running ROS GUI applications like RViz

WSL2 + Docker + OpenGL + NVIDIA not working (uses llvmpipe instead) ## Summary I am running ROS GUI applications like RV

My environment:

• ROS Noetic in a docker container with Ubuntu 20.04
• Moveit! version 1.1.2
• ros-industrial-client with motoman driver

Problem:

• Using MoveGroup commander (Python API) and Pilz Industrial Motion Planner, changes to the allowed collision matrix (ACM) are published to the planning scene but do not propagate to the planning interface.

Action taken so far:

• Tested with an identical stack except with OMPL planner in the pipeline. Behaviour is not reproducible, changes propagate to the planning interface (perhaps through pre/post-processing plugins?).
• Tested with planning directly in rviz. Behaviour is not reproducible, changes propagate to the planning interface.

Question:

• Why does OMPL planner with MoveGroup Commander or planning directly in rviz with Pilz Industrial Motion Planner successfully use the updated planning scene yet the Pilz Industrial Motion Planner with MoveGroup Commander does not?
• Is there an API call to force the MoveGroup Commander to fetch an updated planning scene?

This issue has been fixed and merged into the master branch of MoveIt!. See GitHub issue for more info.

@fvd do you have a github repo where I could view working moveit config files and python scripts? Moved to github issue

@fvd do you have a github repo where I could view working moveit config files and python scripts?

pilz industrial motion planner not using the updated allowed collision matrix My environment: ROS Noetic in a docker c

Question guidelines: "Names and versions of stacks/packages that you're using". If there should be boundaries to what th

pilz industrial motion planner not using the updated allowed collision matrix My environment: ROS Noetic in a docker c

Hey guys,

I'm at a dead-end so in need of some help from the community, please. This question follows on from a closed GitHub issue on ros_canopen. My problem is as follows:

• I'm unable to do a PDO re-map procedure using ros_canopen_master.
• If I don't do the PDO re-map procedure the Schneider Lexium 28 controller does enable voltage but halts due to an error message: "PDO packet too long".

Some background data:

1. Both EDS and DCF formats have been tried. Setting ParameterValue via CANeds, text file or dcf_overlay in driver.yaml makes no difference to the error. Looking at the source code in ros_canopen, the error seems to be that it tries to read an SDO which the package is not setup to do (bubbles up at object dictionary 1800sub1 but this doesn't seem to point to anything useful) but I am not asking it to read an SDO, just write to them in the devices pre-operational state so it can re-map the PDO.
2. ros_canopen version 0.8.5
3. TPDO & RPDO mappings as follows:

"1A00sub0": "2"
"1A00sub1": "0x60410010" ---------------- # statusword [2 bytes]
"1A00sub2": "0x60610008" ---------------- # modes of operation display [1 byte]
"1A01sub0": "1"
"1A01sub1": "0x60640020" ---------------- # actual position value [4 bytes]
"1600sub0: "2"
"1600sub1": "0x60400010" ---------------- # controlword [2 bytes]
"1600sub2": "0x60600008" ---------------- # modes of operation [1 byte]
"1601sub0": "1"
"1601sub1": "0x607a0020" ---------------- # target position [4 byte]

ros_canopen control Schneider Lexium motor I've mapped PDO's, initialised successfully, performed homing (set to current

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

Solution: For those with a Schneider Lexium motor you will need to set the target position profile velocity object key.

The Lexium manual states a list of CANopen object dictionary keys. One of them is called the above and is set to 0 by de

@gvdhoorn and @Mathias Lüdtke, thanks for your help.

@gvdhoorn and @"Mathias Lüdtke", thanks for your help.

Solution: For those with a Schneider Lexium motor you will need to set the target position profile velocity object key.

Solution: For those with a Schneider Lexium motor you will need to set the target position profile velocity object key.

Solution: For those with a Schneider Lexium motor you will need to set the target position profile velocity object key.

Solution: For those with a Schneider Lexium motor you will need to set the profile velocity object key. This can be don

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

Apologies that was an obvious test to do. I'm learning, so forgive the oversight. To answer your question directly now:

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

I can confirm services work perfect. Regarding topics; joint_state_publisher is subscribing successfully to canopen/join

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

@gvdhoorn I've done as asked, but don't have enough points to reopen.

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren

ros_canopen rostopic pub controller/command I've mapped PDO's, initialised successfully, performed homing (set to curren