Hi Ugo, When use_additional_start_angles is 0, it takes as the initial joint positions the start position defined in the service request, in req.motion_plan_request.start_state.joint_state.position. If use_additional_start_angles is 1, it will try one set of start angles from the list of possible additional start angles, if the requested start angles do not produce a satisfactory solution. Thus, the default should be 0. -Kaijen On Tue, Mar 8, 2011 at 6:58 AM, Ugo Cupcic wrote: > Hi Sachin, > > I switched to unstable today and I can confirm that it's working perfectly > in my case. I had to modify ik_utilities.py, in order to use the specified > start_angles (see bug #5040: > https://code.ros.org/trac/wg-ros-pkg/ticket/5040). > > I also had to update my ompl planning parameter file. The syntax seems to be > different in unstable and in diamondback (by the way, I think that the > example in ompl_ros_interface/ won't work as the > pr2_arm_navigation_planning/config/ompl_planning_configs.yaml seems to be > out of date). You can have a look at ticket #5062 for more details. > > Cheers, > > Ugo > > On Mon, Mar 7, 2011 at 7:42 PM, Sachin Chitta > wrote: >> >> Hi Ugo, >> >> I just released the generic arm kinematics (collision aware) package into >> unstable. This now lets you do collision aware kinematics for any arm. This >> is a combination of David Lu's arm_kinematics package (which is based on the >> KDL IK solvers) and code from the pr2_arm_kinematics_constraint_aware >> package. >> >> I also updated the corresponding interfaces in pr2_arm_kinematics and >> motion_planners in unstable. Let me know if you have any trouble. >> >> Best Regards, >> Sachin >> >> (p.s. Thank you, David for creating arm_kinematics) >> >> On Fri, Mar 4, 2011 at 9:56 AM, Sachin Chitta >> wrote: >>> >>> Hi Ugo, >>> >>> Move arm indeed is generic and was designed to work with any arm. The >>> only command output that is pr2 dependent is the action addressing the >>> trajectory controller, so if you implement something for that it should >>> work. Don't use the ik_constrained planner, it is now outdated. >>> >>> I will fix and release the generic_kinematics package if you are happy >>> with it so far. >>> >>> I would recommend using ompl as your planner. I just released a new >>> version of ompl_ros_interface into unstable. It replaces the old ompl_ros >>> and ompl_planning packages for interfacing with the new ompl package from >>> Rice (http://ompl-beta.kavrakilab.org/). I will be putting in more tutorials >>> for the new package as the days go by and will help you get it running on >>> your arm - I intend to use this as a example/use-case for the tutorials as >>> well. >>> >>> Regards, >>> Sachin >>> >>> On Fri, Mar 4, 2011 at 8:27 AM, Ugo Cupcic wrote: >>>> >>>> Hi, >>>> >>>> I'm getting more and more lost trying to implement the move_arm >>>> properly, so sorry in advance if my questions are a bit messy. >>>> >>>> At first I duplicated the move_arm package and completely modified it >>>> for my arm. It kind of worked but it didn't seem like a good solution, as >>>> move_arm seems to be very generic: >>>> The only command output from this package seem to be a >>>> pr2_controllers_msgs::JointTrajectoryAction. So if I implement my own >>>> joint_trajectory_action_controller.cpp, which is a >>>> SimpleActionServer, to move my >>>> arm, will it work? >>>> >>>> To use the generic move_arm package, I'm still missing a motion_planner >>>> (I think). Should I try to use the ompl_planner or the >>>> ik_constrained_planner or something else? When I'm trying to compile the >>>> ik_constrained_planner it's failing to build due to the generic_kinematics >>>> overlay (from >>>> https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics). >>>> >>>> Hope you can give me some hints on what I am doing wrong. >>>> >>>> Cheers, >>>> >>>> Ugo >>>> >>>> -- >>>> Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >>>> Software Engineer | 251 Liverpool Road | >>>> need a Hand? | London N1 1LX | +44 20 7700 2487 >>>> http://www.shadowrobot.com/hand/ @shadowrobot >>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>> >>> >>> >>> -- >>> Sachin Chitta >>> Research Scientist >>> Willow Garage >> >> >> >> -- >> Sachin Chitta >> Research Scientist >> Willow Garage > > > > -- > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > Software Engineer | 251 Liverpool Road | > need a Hand? | London N1 1LX | +44 20 7700 2487 > http://www.shadowrobot.com/hand/ @shadowrobot > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >