Hi Antons, I have looked into your configs and it look very similar to mine. But I still have a problem with ompl which don't respect collisions and plan trajectories through obstacles. Did you had similar problems ? Pozdrawiam Konrad Banachowicz 2010/12/5 Antons Rebguns > Hi folks, > > I just went through all the same stuff as both of you to get the arm > navigation pipeline work on our custom 7DOF dynamixel based arm. I was able > to use the ompl motion planning stack to generate a collision free > trajectory that was successfully executed in both simulation and the the > actual arm. I would say if you can reliably execute a joint trajectory on > you arm it's a relatively small step to get the planning environment set up > so that you can get ompl running. > > Here's what I had to write to get it going: > > 1). arm_kinematics - your basic IK solver. Provides the following services: > a). get_ik > b). get_fk > c). get_ik_solver_info > d). get_fk_solver_info > > Packages: > PR2: pr2_arm_kinematics > Mine: > http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_controllers/wubble_arm_kinematics > > 2). arm_kinematics_constraint_aware - basically a wrapper around > arm_kinematics. Hooks up to planning environment and checks the initial and > desired poses for collisions, also publishes some visualization markers. > Adds get_constraint_aware_ik service to all those provided by > arm_kinematics. > > Packages: > PR2: pr2_arm_kinematics_constraint_aware > Mine: > http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware > > 3). joint_trajectory_action_controller - does what you think it does. If > your are already does that, I think all you'd need to do is write a wrapper > that creates a ROS action interface to it. > > Packages: > PR2: robot_mechansim_controllers - joint_trajectory_action_controller.cpp > Mine: > http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_controllers/ax12_controller_core/nodes > > 4). After that you would need to write a bunch of yaml configuration files: > a). parameters for motion planning > b). parameters for collision checks and self filtering > c). for collision map - collision sources, basically something that > provides a point cloud of stuff around you, like a tilting laser. > d). for collision map - self filter, stuff that should not be present in > the cloud above. > e). some padding parameters for planning_environment > f). parameters for ompl_planning and ompl_search > > PR2: pr2_arm_navigation stack has all those scattered across a bunch of > packages. > > You could look at my launch file, it is pretty long but it that has > everything in one place: > > http://code.google.com/p/ua-ros-pkg/source/browse/trunk/arrg/ua_robots/wubble_description/launch/wubble2_empty_world.launch > > All the parameters that it loads are in here (w2_*.yaml): > > http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_robots/wubble_description/params > > So I think you guys are pretty close to get the motion planner run on your > arms, at least the motion planning part, now the grasping pipeline is whole > different matter... I don't have experience with that, yet :) > > Hope this helps you somewhat, > Anton > > On Sun, Dec 5, 2010 at 10:59 AM, Konrad Banachowicz wrote: > >> Hi Martin, >> >> I am doing quiet the same for irb6 manipulator. I have done all servo, >> trajectory, URDF stuff already. >> Now i am working on running manipulation pipeline on it. For now it's >> looks like it would be hard work. >> The manipulation pipeline (as far as i know) is used only on PR2 and It's >> quiet hard to get any answers about it on the list. >> I recently get some stuff working (envirement_server, move_arm, >> trajectory_filter) (partially by some ugly hacks) but there is still a lot >> of work before I can say it works for me. >> >> Pozdrawiam >> Konrad Banachowicz >> >> >> 2010/12/5 Martin Günther >> >> On Sun, 5 Dec 2010 17:39:30 +0100 >>> Martin Günther wrote: >>> >>> > Dear list, >>> > >>> > I am currently writing a ROS node for the Neuronics Katana 450 arm and >>> > would be happy about a few quick pointers about how to continue. I am >>> > aware of the ROS packages katana450, katana_ik_bridge and >>> > stair_katana; however, I would like to reuse as much ROS stuff for >>> > IK, arm navigation and motion planning as possible, so I decided to >>> > rewrite the code from scratch. >>> > >>> > So far, >>> > - I have created a URDF description of the arm; >>> > - I can read out the current joint angles and publish them as >>> > JointState messages; >>> > - I can move the arm to a desired joint angle configuration; >>> > - I can move the arm to a target pose in space, using the inverse >>> > kinematics library supplied with the arm (although I'm also eager to >>> > give the ROS IK a try). >>> > >>> > I have the feeling that I am almost done (right? come on, please!), >>> > but I'm a little overwhelmed by the wealth of arm navigation stuff in >>> > ROS. What are the messages/services/actions that I should provide to >>> > be able to interface my arm to a motion planner, and to use the ROS >>> > IK, and so on? >>> > >>> > Best, >>> > Martin >>> >>> Forgot to mention: The robot arm has realtime controllers for all the >>> motors; I can send a spline (or a sequence of splines) there, and it >>> will be executed. >>> >>> Best, >>> Martin >>> _______________________________________________ >>> 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 > >