sofiad's profile - activity

Hi, I have been looking at the camera calibration parameters generated during the calibration and the explanation of the cameraInfo parameters in the ROS wiki.

I can't figure out what the K' matrix is and how the projection matrix is obtained. I thought it would be given by P=K*R but the math doesn't add up.

Thanks!

Hi, Thanks for your answer. I has actually figured that out but was getting confused because setting the P to zero (the only one not zero by default) still has the servo move to the goal position- I expected this to not be the case. However, this happens when I use the ROS driver as well as the Robotis software.

Hi, I'm trying to play with the PID parameters in some MX-106 servos, however am a bit unclear on how to do this. I believe that to change the P parameter I should use the set_compliance_slope service, and have tried even setting this to zero but find that I cannot move the servo freely although I expected to be able to do so. I guess my question is: exactly how can I set the PID parameters in ROS? And how do I check these values have been set to the ones I requested?

Thanks

Just solved my problem: I didn't have the parent link for the end-effector properly configured in my srdf file.

Thanks anyway!

Hi, I have done the moveit configuration procedure for my robot, however when I launch the demo.launch I don't see the interactive markers in RViz. I have defined four planning groups and kinematic solvers for these groups (KDL) in the kinematics.yaml file. I do get a warning when launching the demo, that no parent groups have been defined for my end effectors. What could be the problem?

Hi, I'm trying to perform IK using the ROS groovy moveit package on my robot's arms and legs. I have configured moveit using the setup assistant and my robot's urdf and have been trying to test the inverse kinematics based on the forward and inverse kinematics tutorial by doing forward kinematics, obtaining the end effector pose, doing inverse kinematics with this pose and forward kinematics again to compare the two poses.

The problem is that often, even though the SetFromIK function returns a positive found_ik, the two poses are different. I would expect that the joint angles could vary, but the poses should be the same, right?

Thanks!

Hi, I am trying to get the coordinates in space (X,Y,Z) of an object. For this, I am detecting the object using the image from the bumblebee's left camera (from here I can obtain the X and Y coordinates), and would like to obtain the Z-coordinate. I have the code for doing this with an Asus Xtion, but this uses a depth map. Can I get a depth map as well from my bumblebee2 camera? Or should I just use the disparity image I get from stereo_image_proc?

Thanks!

Hi, I have a URDF model for my robot and two cameras mounted on the robot's head (a Bumblebee and an Asus Xtion). My question is, how do I define the camera link frames and the frames for each of the cameras? Do I estimate the location of each, e.g. in solidworks?

Any help would be really appreciated!

Thanks

I'm trying to compile the moveit robot state display tutorial for my robot, however I'm getting the following errors:

/home/.../catkin_ws/src/moveit_test/src/state_display_tutorial.cpp: In function ‘int main(int, char**)’:

/home/.../catkin_ws/src/moveit_test/src/state_display_tutorial.cpp:87:22: error: ‘class robot_state::RobotState’ has no member named ‘setToRandomPositions’

/home/.../catkin_ws/src/moveit_test/src/state_display_tutorial.cpp:108:70: error: ‘class robot_state::RobotState’ has no member named ‘getGlobalLinkTransform’

/home/.../catkin_ws/src/moveit_test/src/state_display_tutorial.cpp:123:38: error: ‘class robot_state::RobotState’ has no member named ‘setFromIK’

I have added the dependencies as in the tutorial for the CMakeLists and Package.xml files, what could I be missing?

Thanks