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in ompl_ros_interface/ won't work as the pr2_arm_navigation_planning/config/ompl_planning_configs.yaml seems to be out of date).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 the ik_constrained planner, it is now outdated.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