[ros-users] Control PR2 to grasp objects

[Stuart Glaser]

That sounds correct.

(The other option is to bring up a "two arm controller" like I
described in the previous email).

-Stu

On Wed, Apr 21, 2010 at 1:48 PM, Yun Jiang <helenjyun at gmail.com> wrote:
> Hi Stu,
> Thanks for your suggestions!
> If I want to use planner to control the movement, then I should first send
> the goal and get the two planned trajectories back, and then set the
> timestamp by myself, and last send these two trajectories to
> r_arm_controller and l_arm_controller, right? Or do I have other choices?
> Thanks.
>
> Best,
> Yun
> can't set timestamp
>
> On Mon, Apr 5, 2010 at 1:21 PM, Stuart Glaser <sglaser at willowgarage.com>
> wrote:
>>
>> Hi,
>>
>> > 2) I read tutorials about moving one arm, but I'm wondering if I can
>> > control
>> > two arms simultaneously so that they can move together?
>>
>> You have two options:
>>
>> 1. Use the default controllers and time synchronize the trajectory.
>>
>> If you give the r_arm_controller and l_arm_controller trajectories
>> with the same timestamp in the header, then the two trajectories will
>> be time synchronized.
>>
>> 2. Bring up a "two arm" controller
>>
>> The default set of controllers for the PR2 has separate controllers
>> for the left arm and right arm, but it's possible to bring up one
>> controller for both of them.  Have a look at pr2_arm_controllers.yaml
>> in the pr2_controller_configuration package.  If you combine the
>> listings for r_arm_controller and l_arm_controller then you can
>> produce a configuration for a two-arm controller which will command a
>> trajectory over both arms.
>>
>> -Stu
>>
>> On Sat, Apr 3, 2010 at 9:44 PM, Yun Jiang <helenjyun at gmail.com> wrote:
>> > Hi,
>> >
>> > I'm working on an project of controlling PR2 to grasp objects. I'm new
>> > to
>> > ROS and got several stupid questions,
>> >
>> > 1) after grasping, when I use planner to move the arm, it always
>> > returned
>> > the state is in collision. I felt that I probably should attach the
>> > object
>> > to the robot to avoid obstacle detection for it. But I don't know how.
>> > Is
>> > there any service or simple way to do this?
>> >
>> >
>> > Thanks!
>> >
>> > Best,
>> > Yun
>> >
>> > --
>> > Yun Jiang
>> >
>> > Dept. Computer Science,
>> > School of Engineering,
>> > Cornell University
>> >
>> >
>> > _______________________________________________
>> > ros-users mailing list
>> > ros-users at code.ros.org
>> > https://code.ros.org/mailman/listinfo/ros-users
>> >
>> >
>>
>>
>>
>> --
>> Stuart Glaser
>> sglaser -at- willowgarage -dot- com
>> www.willowgarage.com
>> _______________________________________________
>> ros-users mailing list
>> ros-users at code.ros.org
>> https://code.ros.org/mailman/listinfo/ros-users
>
>
>
> --
> Yun Jiang
>
> Dept. Computer Science,
> School of Engineering,
> Cornell University
>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>



-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com