I can fix that!... I'll tweak the google search to put in some special keywords -Melonee On Tue, Jun 14, 2011 at 9:44 PM, Sachin Chitta wrote: > HI Patrick, > > The fifth or sixth entry from a search for "generic kinematics" will throw > up this: http://www.ros.org/wiki/arm_kinematics_constraint_aware which is > a generic constraint aware kinematics package based on the arm_kinematics > package (which itself uses the KDL solvers). Sorry, I don't really know how > to get things to go higher in the search results - I think there's an option > in the wiki to add keywords but I can't seem to find it right now. > > That page and the page for the arm_kinematics package should help out in > creating your own kinematics node. > > Hope this helps. > > Best Regards, > Sachin > > > On Mon, Jun 13, 2011 at 11:36 AM, Patrick Beeson wrote: > >> I'm attempting to try and utilize novel, custom-made 7-DOF modular arm >> hardware with ROS, and I'd like any help people are willing to provide >> in starting from scratch with getting a new arm working in ROS. I >> have lots of familiarity with ROS, writing ROS drivers for perception >> and navigation hardware, but, I'm not a manipulation or kinematics >> expert, and I'm having difficulties understanding exactly what I do >> and do not need to implement on my end to use the move_arm high level >> package. >> >> Having previously used the navigation stack, and other such stacks, I >> assumed that I would need some sort of driver that would subscribe to >> some topic that would send joint positions or velocities based on >> higher level kinematics planning given URDF models of the joints. >> Instead, what I found was this tutorial: >> >> http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm >> , >> which seems to imply the need for writing my own kinematics plugin in >> addition to my own joint trajectory execution node. I can certainly >> do this given some time; however, previous emails implied a >> generic_kinematics package in unstable that would be useful, but after >> searching through the Subversion repository, a generic_kinematics >> package does not exist anywhere. >> >> So, I'm going to start my creating a joint_trajectory_execution node >> that has a a joint_trajectory_action interface and does soft-realtime >> control of my joints behind the scenes. What I need help determining >> is if/where any generic kinematics packages exist or if I need to >> write my own for my arm. If I need to write my own, more details on >> how to get this working with the other relevant modules would be >> useful. If a generic package exists, where is it? How do I feed it >> the model of my arm? Also (tutorial step 5) there are lots of other >> bits and pieces lying around that need to get tied together that >> aren't well documented. All in all, what I need is a better tutorial >> that gives a much more simplified explanation as to what pieces are >> needed, how they fit together (from move_arm down to hardware >> interface), what parameters are definitely needed and which can be >> ignored, etc. >> >> Any help on this would be appreciated. I'm sure I could figure all of >> this out given enough time, but these days, time is not a great luxury >> that I have, and part of the reason I use ROS is that it has been easy >> to create, use, swap nodes, messages, topics with relative ease. the >> ARM documentation however is quite lacking and the large number of >> motion planning, kinematics, controller, and action modules are not >> well documented as to what is deprecated, how things fit together, >> etc. >> >> Thanks in advance, >> >> Patrick >> _______________________________________________ >> 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 > > -- Senior Engineer Intern Program Director Willow Garage 68 Willow Rd. Menlo Park, Ca 94025