| -->%0A>%20>%20%C2%A0<rosparam%20command=%22load%22%20file=%22%24(find%20cob_arm_navigation)/config/filters.yaml%22/>%0A>%20>%0A>%20>%20%C2%A0<remap%20from=%22robot_description%22%20to=%22robot_description%22%20/>%0A>%20>%20%C2%A0%0A>%20>%20%C2%A0%0A>%20>%20%C2%A0%0A>%20>%20%C2%A0<param%20name=%22refresh_interval_kinematic_state%22%20type=%22double%22%20value=%221.0%22%20/>%0A>%20>%20%C2%A0<param%20name=%22bounding_planes%22%20type=%22string%22%20value=%220%200%201%20-0.01%22%20/>%0A>%20>%20%C2%A0<param%20name=%22compute_contacts%22%20type=%22bool%22%20value=%22false%22%20/>%0A>%20>%0A>%20>%20%C2%A0%0A>%20>%0A>%20>%20%C2%A0<rosparam%20command=%22load%22%20file=%22%24(find%20cob_arm_navigation)/config/cob3_robot_padding.yaml%22%20/>%0A>%20>%0A>%20>%20%C2%A0</node>%0A>%20>%20</launch>%0A>%20>%0A>%20>%20################################################################################%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20#######################%20cob_arm_navigation/filters.yaml%20#######################%0A>%20>%0A>%20>%20service_type:%20FilterJointTrajectoryWithConstraints%0A>%20>%20filter_chain:%0A>%20>%20%C2%A0-%0A>%20>%20%C2%A0name:%20unnormalize_trajectory%0A>%20>%20%C2%A0type:%20UnNormalizeFilterJointTrajectoryWithConstraints%0A>%20>%20%C2%A0-%0A>%20>%20%C2%A0name:%20cubic_spline_short_cutter_smoother%0A>%20>%20%C2%A0type:%20CubicSplineShortCutterFilterJointTrajectoryWithConstraints%0A>%20>%20%C2%A0params:%20%7Bdiscretization:%200.01%7D%0A>%20>%0A>%20>%20########################################################################%0A>%20>%0A>%20>%0A>%20>%20In%20cob_arm_navigation/cob3_move_arm.launch:%20%C2%A0%20%C2%A0<param%20name=%22trajectory_filter_allowed_time%22%20type=%22double%22%20value=%222.0%22%20/>%0A>%20>%0A>%20>%20This%20is%20actually%20the%20configuration%20that%20I%20took%20from%20the%20pr2_arm_navigation%20tutorials%20a%20while%20ago...adopted%20to%20the%20care-o-bot...but%20I%20never%20looked%20into%20it%20more%20closely.%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20When%20I%20now%20do%20planned%20motion%20using%20the%20OMPL%20planner%20or%20our%20own%20PRMCE%20planner%20(which%20I%20am%20currently%20implementing%20and%20testing;%20for%20the%20idea%20behind%20it%20see%20Leven&Hutchinson:%20%22A%20Framework%20for%20Real-time%20Path%20Planning%20in%20Changing%20Environments%22),%20we%20come%20across%20some%20problems:%0A>%20>%0A>%20>%20~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~%0A>%20>%201)%0A>%20>%0A>%20>%20Moving%20from%20a%20collision-free%20position%20to%20our%20home%20position%20using%20OMPL%20planner,%20I%20sometimes%20(not%20always)%20get%20the%20following%20EXCEPTION%20from%20the%20trajectory_filter%0A>%20>%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.279572962,%2027.239000000%5D:%20Received%20new%20goal%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.376962222,%2027.284000000%5D:%20Displaying%20move%20arm%20joint%20goal.%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.432411426,%2027.296000000%5D:%20Constraint%20violated::%20Joint%20name:arm_1_joint,%20value:%200.508538,%20Constraint:%200.000000,%20tolerance_above:%200.100000,%20tolerance_below:%200.100000%0A>%20>%20%5B%20WARN%5D%20%5B1298888734.432526798,%2027.297000000%5D:%20State%20violates%20goal%20constraints.%0A>%20>%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.459090616,%2027.305000000%5D:%20Received%20request%20for%20planning%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.459197428,%2027.305000000%5D:%20Selected%20motion%20planner:%20'kinematic::LBKPIECE%5BLBKPIECEkConfig2cob%5D',%20with%20priority%2011%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.461874732,%2027.305000000%5D:%20ompl%20planning%20for%20group%20arm%0A>%20>%20Info:%20%C2%A0%20%C2%A0LBKPIECE1:%20Starting%20with%202%20states%0A>%20>%20Info:%20%C2%A0%20%C2%A0LBKPIECE1:%20Created%2036%20(21%20start%20+%2015%20goal)%20states%20in%2032%20cells%20(18%20start%20+%2014%20goal)%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.589164524,%2027.353000000%5D:%20Ompl%20says%20ok%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.590284186,%2027.353000000%5D:%20Motion%20planning%20succeeded%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.656534973,%2027.396000000%5D:%20Done%20planning.%20Transitioning%20to%20control%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.900913391,%2027.523000000%5D:%20Got%20trajectory%20with%2027%20points%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.931195555,%2027.538000000%5D:%20Trajectory%20filter%20took%200.015000%20seconds%0A>%20>%20%5BERROR%5D%20%5B1298888734.931611377,%2027.538000000%5D:%20Exception%20thrown%20while%20processing%20service%20call:%20Duration%20is%20out%20of%20dual%2032-bit%20range%0A>%20>%20%5BERROR%5D%20%5B1298888734.931930840,%2027.538000000%5D:%20Service%20call%20to%20filter%20trajectory%20failed.%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932046852,%2027.538000000%5D:%20Sending%20trajectory%20with%2027%20points%20and%20timestamp:%2027.738000%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932089759,%2027.538000000%5D:%20Joint:%200%20name:%20arm_1_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932120095,%2027.538000000%5D:%20Joint:%201%20name:%20arm_2_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932147412,%2027.538000000%5D:%20Joint:%202%20name:%20arm_3_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932173614,%2027.538000000%5D:%20Joint:%203%20name:%20arm_4_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932200234,%2027.538000000%5D:%20Joint:%204%20name:%20arm_5_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932226304,%2027.538000000%5D:%20Joint:%205%20name:%20arm_6_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888734.932252208,%2027.538000000%5D:%20Joint:%206%20name:%20arm_7_joint%0A>%20>%20%5B%20INFO%5D%20%5B1298888736.978149558,%2028.600000000%5D:%20Trajectory%20controller%20status%20came%20back%20as%20failed%0A>%20>%20%5B%20INFO%5D%20%5B1298888737.067294931,%2028.642000000%5D:%20Constraint%20violated::%20Joint%20name:arm_2_joint,%20value:%20-0.465754,%20Constraint:%200.000000,%20tolerance_above:%200.100000,%20tolerance_below:%200.100000%0A>%20>%20%5B%20WARN%5D%20%5B1298888737.084768419,%2028.659000000%5D:%20State%20violates%20goal%20constraints.%0A>%20>%0A>%20>%20%5B%20WARN%5D%20%5B1298888737.085246261,%2028.659000000%5D:%20Though%20trajectory%20is%20done%20current%20state%20does%20not%20seem%20to%20be%20at%20goal%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20But%20the%20filtered%20trajectory%20does%20have%20filled%20time_from_start%20and%20also%20the%20movement%20in%20visualization%20does%20reach%20the%20goal.%0A>%20>%20Also,%20the%20planned%20trajectory%20does%20already%20have%20a%20duration%20time_from_start,%20which%20starts%20with%200.0%20for%20the%20first%20trajectory%20point%20and%20than%20adds%2010%20ms%20per%20point%20(equidistant).%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~%0A>%20>%202)%0A>%20>%20BTW,%20why%20does%20the%20planned%20trajectory%20(PATH?)%20already%20include%20time_from_start?%0A>%20>%0A>%20>%20After%20the%20trajectory%20filter%20they%20seem%20to%20be%20adjusted%20and%20not%20equidistant%20anymore.%20How%20are%20these%20new%20time_from_start%20s%20calculated%20and%20where?%20I%20guess%20it's%20with%20respect%20to%20the%20distance%20of%20the%20neighboring%20trajectory%20points%20and%20the%20max_vel%20of%20the%20arm.%0A>%20>%0A>%20>%0A>%20>%20As%20described%20in%20http://code.ros.org/lurker/message/20110211.181836.d7d7eafa.en.html%0A>%20>%0A>%20>%20we%20also%20have%20problems%20with%20moving%20on%20that%20filtered%20trajectory!%0A>%20>%20We%20first%20assumed%20that%20it%20has%20something%20to%20do%20with%20the%20dynamic%20model%20of%20the%20arm,%20but%20maybe%20it's%20just%20because%20the%20arm%20can%20not%20hold%20the%20velocities%20that%20derives%20from%20these%20time_from_start%20s.%0A>%20>%0A>%20>%20Since,%20when%20setting%20the%20time_from_start%20to%20about%202%20seconds%20per%20trajectory%20point,%20it%20works%20fine.%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20I'd%20be%20pleased%20to%20hear%20some%20of%20your%20opinions%20on%20this!%0A>%20>%20Also,%20if%20anybody%20has%20suggestions%20on%20other/better%20trajectory_filter%20configurations,%20please%20let%20me%20know!!!%0A>%20>%0A>%20>%0A>%20>%20As%20always,%20if%20you%20have%20questions%20or%20need%20more%20details,%20let%20me%20know%20as%20well!%0A>%20>%0A>%20>%0A>%20>%0A>%20>%20Thanks!%0A>%20>%20Felix%0A>%20>%0A>%20>%20___________________________________________________________%0A>%20>%20NEU:%20FreePhone%20-%20kostenlos%20mobil%20telefonieren%20und%20surfen!%0A>%20>%20Jetzt%20informieren:%20http://produkte.web.de/go/webdefreephone%0A>%20>%20_______________________________________________%0A>%20>%20ros-users%20mailing%20list%0A>%20>%20ros-users@code.ros.org%0A>%20>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20>%0A>%20%0A>%20%0A>%20%0A>%20--%20%0A>%20Sachin%20Chitta%0A>%20Research%20Scientist%0A>%20Willow%20Garage%0A>%20%0A>%20"> |