Konrad, No, I didn't have this problem. It looks like it is working properly, it shows me collision points and doesn't allow the arm to crach into the ground or the robot. I need to test it more with some obstacles though. Anton On Sun, Dec 5, 2010 at 3:01 PM, Konrad Banachowicz wrote: > 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 >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >