On Fri, Mar 4, 2011 at 5:56 PM, Sachin Chitta <sachinc@willowgarage.com> 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 Don't use the ik_constrained planner, it is now outdated.

Ok, I almost got ompl and chomp working (I based this on the pr2_arm_navigation_planning package).

I will fix and release the generic_kinematics package if you are happy with it so far.

Very happy with it! Thanks!

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.

Ok I'll check that new version on monday then.

Regards,
Sachin

Cheers,

Ugo

On Fri, Mar 4, 2011 at 8:27 AM, Ugo Cupcic <ugo@shadowrobot.com> 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<pr2_controllers_msgs::JointTrajectoryAction>, 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

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Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com
Software Engineer | 251 Liverpool Road |
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Sachin Chitta
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Willow Garage