That sounds correct. (The other option is to bring up a "two arm controller" like I described in the previous email). -Stu On Wed, Apr 21, 2010 at 1:48 PM, Yun Jiang wrote: > 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 > > On Mon, Apr 5, 2010 at 1:21 PM, Stuart Glaser > wrote: >> >> Hi, >> >> > 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? >> >> You have two options: >> >> 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 >> >> On Sat, Apr 3, 2010 at 9:44 PM, Yun Jiang wrote: >> > 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 >> > >> > >> > _______________________________________________ >> > ros-users mailing list >> > ros-users@code.ros.org >> > https://code.ros.org/mailman/listinfo/ros-users >> > >> > >> >> >> >> -- >> Stuart Glaser >> sglaser -at- willowgarage -dot- com >> www.willowgarage.com >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > > > > -- > Yun Jiang > > Dept. Computer Science, > School of Engineering, > Cornell University > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Stuart Glaser sglaser -at- willowgarage -dot- com www.willowgarage.com