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2018-11-09 15:33:24 -0500 marked best answer How to define joints in SolidWorks


I have a joint that is rotational controlled by a linear actuator as pictured:

image description

These actuators have feedback indicating their displacement which i would like to use as the feedback for control.

In my current model i excluded the linear actuators and described the simple rotational joint and used rotary encoders in the joints for feedback. Now that i have actuators with position feedback i would rather use that and control these lengths directly.

My question is how should I describe this in SolidWorks so that the URDF exported will imported nicely into RVIZ? I am not sure about the kinematic chain.


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2018-01-29 11:30:06 -0500 marked best answer Joystick control for interactive markers


I intend to use a joystick to move the interactive marker in MoveIt (in Hydro) to position the goal state for my robot arm.

My first approach has been to try and adapt code from @danep found here: link

The issue is i am uncertain how to uncouple the Phantom Omni components and instead pair it with my joystick publishing on the /joy topic with type sensor_msgs/Joy.

Does anyone have insight on this or another approach?



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2016-11-30 21:55:39 -0500 commented question Bipedal planning in MoveIt

@Craig, Try defining a model that has the kinematics base->end but then append to that the reverse, spoofing the reverse kinematic chain: base->intermediate->end->intermediate_->base_. Plan both of these using move groups on each part of the chain. You will need a fake link from world to some point.

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2016-09-01 18:20:29 -0500 marked best answer Implement MoveIt! on Real Robot

Hi all,

Unfortunately I am really struggling with implementing MoveIt! on my custom hardware.

Basically I am stuck in connecting to an Action Client. I have been successful in using a driver package to control my motor drivers (RoboClaw). link from @bcharrow

Unfortunately in MoveIt am always greeted with:

[INFO] [1410916361.912676781]: MoveitSimpleControllerManager: Waiting for /full_ctrl/joint_trajectory_action to come up

[ERROR] [1410916366.912904732]: MoveitSimpleControllerManager: Action client not connected: /full_ctrl/joint_trajectory_action

[ INFO] [1410916371.938914542]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up

[ INFO] [1410916376.939103684]: MoveitSimpleControllerManager: Waiting for /gripper_ctrl/joint_trajectory_action to come up

[ERROR] [1410916381.939338320]: MoveitSimpleControllerManager: Action client not connected: /gripper_ctrl/joint_trajectory_action

[ INFO] [1410916381.957750506]: Returned 0 controllers in list

[ INFO] [1410916381.963234975]: Trajectory execution is managing controllers

My Action Client is based on this: link

Can anyone offer more of a step by step instruction on connecting my robot to MoveIt, i haven't found any such tutorial or etc such as: link1 link2



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2016-03-21 08:46:48 -0500 marked best answer How to write a motor controller driver?

Hi All,

I need to interface with Orion Robotics' RoboClaw motor controllers and so require some kind of driver. More info on the device here.

I will have several of them connected via USB and need to talk to them individually.

I would like to write the generic driver and create a new instance for each physical device.

I was thinking that I will need a node to run to maintain the connection to the device...? But should requests be received using services or messages?

Thanks for any help,


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2015-11-04 17:53:43 -0500 marked best answer Import scene model into RVIZ/MoveIt

Hi all,

I am wanting to launch RVIZ and have it import laboratory environment into the planning scene. I have a 3D model of the lab in SolidWorks and available as an STL.

How can I do this? Are there any parameters i can load this into?


2015-08-16 18:15:55 -0500 commented question Motion planning for multiple robots with moveit


I am hoping yo8u have some updates, since we desire to do the same thing :)


2015-07-30 21:10:34 -0500 asked a question Load 2D parameter from parameter server

Hi all,

I have a YAML file which successfully loads the following into the server:

        joints: [ [name_1_1, name_1_2], 
            [name_2_1, name_2_2], 
            [name_4_1, name_4_2], 
            [name_5_1, name_5_2], 
            [name_6_1, name_6_2] ]

But I am having problems writing the c++ to return the contents. For a 1D vector I can easily use:

std::vector<std::string> names;
nh.getParam("/joints", names);

where the YAML could be:

joints: [name_1, name_2, name_3]

To go 2D I tried to load it with:

std::vector< std::vector<std::string> > names;
nh.getParam("/joints", names);

But I get a build error:

no matching function for call to ‘ros::NodeHandle::getParam(const char [17], std::vector<std::vector<std::basic_string<char> > >&)’

How can I load 2D parameters from the ros parameter server in C++?

Thank you in advance.

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2015-07-26 21:45:54 -0500 commented answer Service with class method

Yes, that was correct!

Thank you for your help - I wouldn't have considered the downcast...

2015-07-26 17:16:50 -0500 commented question Service with class method
2015-07-26 16:11:02 -0500 asked a question Service with class method

I simply want to advertise a service from my main() using a class method as the callback.:

int main(int argc, char **argv){
ros::init(argc, argv, "conversion");//Init the ROS node
ros::NodeHandle nh;//Get the node handle

//My code (issue):
convert_pos2lin asd;//Create the object
ros::ServiceServer srv_ = nh.advertiseService("pos2lin", &convert_pos2lin::convert, &asd);

//The example code which works fine:
AddTwo a;
ros::ServiceServer ss = nh.advertiseService("add_two_ints", &AddTwo::add, &a);


return 0;

Where the class method has the signature:

bool convert(scibot_control::srv_conversion::Request &req, scibot_control::srv_conversion::Response &res);

Despite reading the tutorials and such on this, i have been unable to do so. I am always met with the build error - no matching function for call to advertiseService...

2015-07-26 15:26:28 -0500 commented answer How can I put noise to my P3DX model?
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