Hi Sachin,
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 the ik_constrained planner, it is now outdated.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
>>
>> --
>> 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
>>
>>
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>>
>>
>
>
> --
> 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
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