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 the ik_constrained planner, it is now outdated.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