>
>
> On Tue, May 18, 2010 at 9:46 AM, Ben Rudder <
b.rudder382@gmail.com> wrote:
>>
>> Hi All
>>
>> With the move_arm tutorials, I am always getting warnings that the current
>> position violates the goal constraints, which is pretty obvious, but it
>> often also misses a success message, or more frequently actually errors once
>> it has reached the goal (in each of the four functions) with 'trajectory
>> controller reports error'. Does this happen to everyone or should I check my
>> system for missing things?
>
> I have seen similar behavior as well on a PR2 simulation (as per the
> tutorials), the more common error being that the robot performs a motion
> that appears successful from visual inspection, but then waits in the goal
> configuration until it times out. I've also seen the warnings that the
> current position violates the goal constraints, but not on the PR2, but on
> one of our robots (so the error may be on my side and not on the ROS side).
> I'm still getting to grips with the internals of the arm_navigation stack
> (and making it work with our robots), and I wasn't going to post on the list
> until I had a more concise description of the problems I'm seeing, but now
> that you bring this up, I can confirm some of your issues.
> I'll get back to the list if I find out something meaningful.
>
> Best,
>
> Adolfo
>
>>
>> I am using the C++ versions.
>>
>> Also, in an effort to find out what was going wrong, I tried using the
>> CHOMP planner, which I still have not managed to make function at all for
>> planning...
>>
>> Thanks in advance
>> Ben
>>
>> On Tue, May 18, 2010 at 6:42 AM, Advait Jain <
advait@cc.gatech.edu> wrote:
>>>
>>> Thanks Sachin.
>>>
>>> In case other people are also interested in using move_arm from
>>> python, my python equivalent for the MoveArmPoseGoalComplex
>>> tutorial is at -
>>>
>>>
>>>
http://code.google.com/p/gt-ros-pkg/source/browse/trunk/hrl/hrl_simple_arm_goals/src/hrl_simple_arm_goals/move_arm_pose_goal.py
>>>
>>> It does the same thing as the C++ tutorial (in simulation).
>>>
>>> Advait
>>>
>>>
>>> On Mon, May 17, 2010 at 1:12 AM, Sachin Chitta <
sachinc@willowgarage.com>
>>> wrote:
>>> > Hi Advait,
>>> >
>>> > Yes, the helper functions are only in C++ right now. You will be able
>>> > to address the move_arm node directly from both C++ or python using
>>> > the underlying action API. Have a look at this tutorial for how you
>>> > can specify pose goals directly without needing the extra helper
>>> > functions
>>> > (
http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoalComplex)
>>> >
>>> > I don't have python tutorials but you should be able to follow the
>>> > python tutorials for actions
>>> >
>>> > (
http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Simple%20Action%20Client%20%28Python%29).
>>> >
>>> > I will be happy to accept a python version of the helper functions
>>> > though :-)
>>> >
>>> > Sachin
>>> >
>>> > On Sun, May 16, 2010 at 8:37 PM, Advait Jain <
advait@cc.gatech.edu>
>>> > wrote:
>>> >> I am trying to replicate the functionality of this tutorial from a
>>> >> python node -
>>> >>
http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoal
>>> >>
>>> >> It isn't clear to me if there is a python equivalent for this
>>> >> function:
>>> >> move_arm_msgs::addGoalConstraintToMoveArmGoal(desired_pose,goalA);
>>> >>
>>> >> Am I missing something or do I need to write my own python
>>> >> versions for addGoalConstraintToMoveArmGoal (C+ code in
>>> >> move_arm_msgs/utils.h) and
>>> >> poseConstraintToPositionOrientationConstraints
>>> >> (motion_planning_msgs/convert_messages.h) to use the
>>> >> move_arm package from python?
>>> >>
>>> >>
>>> >> Advait
>>> >> _______________________________________________
>>> >> ros-users mailing list
>>> >>
ros-users@code.ros.org
>>> >>
https://code.ros.org/mailman/listinfo/ros-users
>>> >>
>>> >
>>> >
>>> >
>>> > --
>>> > Sachin Chitta
>>> > Research Scientist
>>> > Willow Garage
>>> > _______________________________________________
>>> > ros-users mailing list
>>> >
ros-users@code.ros.org
>>> >
https://code.ros.org/mailman/listinfo/ros-users
>>> >
>>> _______________________________________________
>>> ros-users mailing list
>>>
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>>>
https://code.ros.org/mailman/listinfo/ros-users
>>
>>
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>>
>
>
>
> --
> Adolfo Rodríguez Tsouroukdissian, Ph. D.
>
> Robotics engineer
> PAL ROBOTICS S.L
>
http://www.pal-robotics.com
> Tel. +34.93.414.53.47
> Fax.+34.93.209.11.09
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--
Sachin Chitta
Research Scientist
Willow Garage