Equanox's profile - activity

Can ros/rviz/opencv handle 12Bit JPEG? Is it possible to visualize 12bit jpegs with ros/rviz? When i look at this list

I'm writing a rviz plugin and would like to have InteractiveMarkers grouped together. I can add it to my rviz::Display using.

this->addChild(m_interactiveMarkerDisplay);

But i rather like to add rviz::InteractiveMarkerDisplay to a rviz::displayGroup object.

void MyRvizDisplay::onInitialize()
{
  m_interactiveMarkerDisplay->initialize( context_ );
  m_displayGroup->initialize(context_);

  this->addChild(m_displayGroup);

  m_displayGroup->addChild(m_interactiveMarkerDisplay);
}

Though, the InteractiveMarkerDisplay does not appear as child element. Maybe i'm missing some initialization on the m_interactiveMarkerDisplay object?

There is also a

m_displayGroup->addDisplay(m_interactiveMarkerDisplay);

method. But here i get a SegFault.

Thanks for your help.

Is it possible to define a group_state for a dual arm group?

Don't forget to add #include <termios.h>

Hey guys,

I'm trying to drive through multiple waypoints and would like to use a cartesian planner for this. It is working when i plan for each arm individually cause i can plan for each endeffector but i have no clue how to set it up using a move group including both arms. For the IK solver it is explained in the tutorials (e.g. docs.ros.org/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html). But its not explained how to use a cartesian planner.

Thanks for your help!

Cheers, Matthias

dual controller

All right,

I found the answer. Thers a file named "prog" in the ur_driver package. You can change the port for the connection between arm and pc in line 116, with the second argument of the command socket_open(HOSTNAME, 50001). You also need to change the port in line 642 in the driver.py.

Right now there is no solution added for doing this during runtime.

Cheers, Matthias

Hey,

I'm working with two ur10 arms. i can easily set up a connection with the universal robot stack from github using the driver.py with one robot arm. I'm using the ipa320 fork (github.com/ipa320/universal_robot) with groovy.

I'm sure both arms are reachable over the network and i can set up a connection with each arm individually.

My problem is when i wont to establish the connections simultaniously.. when i'm connecting to the second ur10 the connection attempt fails. I'm not really familliar wit tcp and sockets but in my opinion the connection fails cause the ur10 box trys to establish the connection only through port 500001. I know that this python scripts tells the ur10 box to setup a connection. But i dont't know how to tell the box over whitch port the connection should be established. In the driver.py is a variable define REVERSE_PORT = 50001 but it is not used in the code. Does somebody has deeper insights in the connection process or already accomplished to set up a connection with two ur10's and moveit?

Any help is appreciated.

Thanks, Matthias.

Thanks for your advise, When normalizing quaternions the error didn't occured. But the origin of my fault was that i were using a false transformation. Your answer lead me to the right path cause i was wondering why they are not normalized.

Now i can plan to the right position and orientation :)!! Thanks!

Hey there,

I'm working with an ur10 arm in groovy using MoveIt. I can plan and excecute the position and orientation of the end effector without problems when i'm using rviz and moving the connectors with the mouse. But when i do the planning from c++ over the move_group interface i'm getting the warning

>"Orientation constraint for link 'right_arm_ee_link' is probably incorrect: 0.482316, 0.611794, 0.626960, 0.345908. Assuming identity instead."

The arm moves in gazebo to the desired position but the orientation is all the time only the identity. Any thoughts?

geometry_msgs::PoseStamped pose;
rnd_pose.header.frame_id = "/ROBOT_BASE";

pose.pose.position.x = sensornode_.translation.x;
pose.pose.position.y = sensornode_.translation.y;
pose.pose.position.z = sensornode_.translation.z;
pose.pose.orientation.w = sensornode_.rotation.w;
pose.pose.orientation.x = sensornode_.rotation.x;
pose.pose.orientation.y = sensornode_.rotation.y;
pose.pose.orientation.z = sensornode_.rotation.z;

group.setStartStateToCurrentState();
group.setGoalOrientationTolerance(0.1);
group.setPoseTarget(pose);
group.move();

Thank you, Matthias

Hey,

I have some problems with gazebo 1.9.1 . I'm using ros groovy with ubuntu 12.04lts. I try to get gazebo to work with a model of the ur10 from universal robots. I installed gazebo as described here gazebosim.org/wiki/Tutorials/1.9/Installing_gazebo_ros_Packages.

Here is my problem: When i launch the robot to gazebo i'm getting the following error messages.

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_controller_manager.so: libgazebo_ros_controller_manager.so: cannot open shared object file: No such file or directory

Error [Plugin.hh:127] Failed to load plugin libgazebo_ros_power_monitor.so: libgazebo_ros_power_monitor.so: cannot open shared object file: No such file or directory

In the folder catkin_ws/devel/lib i can only find libcontroller_manager.so , there is no libgazebo_ros_controller_manager.so.

Thank you, in advance. Equa