Hi Stu,
Thanks for your suggestions!
If I want to use planner to control the movement, then I should first send the goal and get the two planned trajectories back, and then set the timestamp by myself, and last send these two trajectories to r_arm_controller and l_arm_controller, right? Or do I have other choices? Thanks.
Best,
Yun
can't set timestamp
Hi,
You have two options:
> 2) I read tutorials about moving one arm, but I'm wondering if I can control
> two arms simultaneously so that they can move together?
1. Use the default controllers and time synchronize the trajectory.
If you give the r_arm_controller and l_arm_controller trajectories
with the same timestamp in the header, then the two trajectories will
be time synchronized.
2. Bring up a "two arm" controller
The default set of controllers for the PR2 has separate controllers
for the left arm and right arm, but it's possible to bring up one
controller for both of them. Have a look at pr2_arm_controllers.yaml
in the pr2_controller_configuration package. If you combine the
listings for r_arm_controller and l_arm_controller then you can
produce a configuration for a two-arm controller which will command a
trajectory over both arms.
-Stu
> Hi,
>
> I'm working on an project of controlling PR2 to grasp objects. I'm new to
> ROS and got several stupid questions,
>
> 1) after grasping, when I use planner to move the arm, it always returned
> the state is in collision. I felt that I probably should attach the object
> to the robot to avoid obstacle detection for it. But I don't know how. Is
> there any service or simple way to do this?
>
>
> Thanks!
>
> Best,
> Yun
>
> --
> Yun Jiang
>
> Dept. Computer Science,
> School of Engineering,
> Cornell University
>
>
> _______________________________________________Stuart Glaser
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
--
sglaser -at- willowgarage -dot- com
www.willowgarage.com
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