Please use the official MoveIt! mailing list at: https://groups.google.com/forum/#!forum/moveit-users As described on http://wiki.ros.org/Get%20Involved , ros-users is more for general announcements. Thank you. On Mon, Oct 14, 2013 at 1:15 PM, Sudarshan Srinivasan wrote: > Hey all, > > I am trying to get Moveit! working on the Meka robot. I have read most of > the documentation and have a fairly decent idea of the different pieces > involving Moveit! I think I have all the pieces required to get it work, > however, I am having some trouble in making them work together. I am hoping > this disscussion will not only help me but also other users who are in the > same boat trying to get Moveit! to work with their robot. > > Originally, I had asked a question about Moveit on answers.ros.org which > you can find here > . I have completed the Moveit! quickstart tutorial including the RViz > one where I can set a random goal state for a group and provided the path > to the goal is not colliding with anything, the simulation runs. Up until > this point, I did not have a FollowJointTrajectoryAction server running, > have a contollers.yaml file or running anything on the real robot. > > Currently, my setup is: roscore is running on the computer that talks to > the robot and I run Moveit! (using the command on the RViz tutorial > demo.launch) on my computer while connecting to the remote roscore. Moveit! > and RViz at this stage can read /joint_states and I can see the current > state of the arms/torso etc on the model. > > Based on the universal robot (UR5) action server ur5_driver.py and > the associated client test_client.py for > Moveit!, I started writing a very simple FollowJointTrajectoryAction server > along with a very simple client to test it. > > My code can be found here:* meka_action_server.py > and test_client.py .* > > When I launch Moveit! using the RViz launch file, I get error saying that > it was unable to connect to the action server: > >> >> [ERROR] [1381437382.200345290]: Unable to connect to action server within allotted time >> >> even though I was running meka_action_server.py. However, when I do: > > >> $ rostopic list | grep follow/follow_joint_trajectory/cancel/follow_joint_trajectory/feedback/follow_joint_trajectory/goal/follow_joint_trajectory/result/follow_joint_trajectory/status >> >> I get all the topics that Moveit! is presumably looking for. In order to > test my server I ran the test_client.py which was written based on the > tutorials and the UR5 test and it didn't really give me anything. I will > also include my controllers.yaml , > meka_moveit_controller_manager.launch , and > moveit_planning_execution.launch for > completion. > > My questions: > > 1. Why is my test_client and Moveit not able to talk/connect to my > FollowJointTrajectoryAction action server and how can I fix this problem? > 2. I can't use the pr2_moveit_controller_manager and have to use the > moveit_simple_controller_manager. Going by this post, > the moveit_simple_controller_manager requires an action server. How do I > get the moveit_simple_controller_manager and my action server to work > together? > > Like I said in the begining, I think I have all the pieces to make Moveit! > plan a trajectory and receive it in the action server. Please let me know > if I need to do anything in that regard. I would just like some help in > getting them to work together. Essentially, I would like to receive the > joint angles/velocity etc that Moveit! calculates and just print them onto > the screen, because going from there to the robot is trivial. > > Thanks for reading and your help is greatly appreciated. Please let me > know if you need anymore information. > > Thanks, > > Sudarshan. > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >