On Tue, May 18, 2010 at 10:41 AM, Sachin Chitta wrote: > Hi Adolfo, > > The move_arm node relies on your controller to report back that the > final goal was achieved within the desired limits specified in the > goal message. The problems you are having on the robot could be due to > a steady-state error in your controller that prevents it from > converging to the goal. It could also be because you are setting the > convergence > limits too tight. Try and make them a little more lenient. > > The first message that says "goal constraint violated" just refers to > the fact that you are at the starting point and not at the goal yet. I > will modify it to something more meaningful soon. > Good to know I can ignore this one. > > I am surprised by the report that the controllers do not converge in > simulation. I will check this out and let you know what's going on > soon. Are you using the latest versions of the simulator or are you > using the boxturtle versions? > I'm using boxturtle, so I'm probably missing out on the more recent additions. > > Please keep me updated about your experiences with using the stack on > a different robot. We are currently in the process of updating and > adding more tutorials dealing with the collision map and collision > space representations and features for the stack. > Sure thing. I've been updating the tutorials and documentation whenever I see an inconsistency with the code. Only minor things so far :) Adolfo. > Best Regards, > Sachin > > 2010/5/18 Adolfo Rodríguez Tsouroukdissian < > adolfo.rodriguez@pal-robotics.com>: > > > > > > On Tue, May 18, 2010 at 9:46 AM, Ben Rudder > 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 > 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 > >>> > 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 > >>> ros-users@code.ros.org > >>> https://code.ros.org/mailman/listinfo/ros-users > >> > >> > >> _______________________________________________ > >> ros-users mailing list > >> ros-users@code.ros.org > >> https://code.ros.org/mailman/listinfo/ros-users > >> > > > > > > > > -- > > 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 > > AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden > > contener información privilegiada y/o confidencial que está dirigida > > exclusivamente a su destinatario. Si usted recibe este mensaje y no es el > > destinatario indicado, o el empleado encargado de su entrega a dicha > > persona, por favor, notifíquelo inmediatamente y remita el mensaje > original > > a la dirección de correo electrónico indicada. Cualquier copia, uso o > > distribución no autorizados de esta comunicación queda estrictamente > > prohibida. > > > > CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may > > contain confidential information which is privileged and intended only > for > > the individual or entity to whom they are addressed. 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