[ros-users] Interfacing a new arm driver to a motion planner

Mon Dec 6 03:15:38 UTC 2010

Konrad,

No, I didn't have this problem. It looks like it is working properly, it
shows me collision points and doesn't allow the arm to crach into the ground
or the robot. I need to test it more with some obstacles though.

Anton

On Sun, Dec 5, 2010 at 3:01 PM, Konrad Banachowicz <konradb3 at gmail.com>wrote:

> Hi Antons,
> I have looked into your configs and it look very similar to mine.
> But I still have a problem with ompl which don't respect collisions and
> plan trajectories through obstacles.
> Did you had similar problems ?
>
> Pozdrawiam
> Konrad Banachowicz
>
>
> 2010/12/5 Antons Rebguns <anton at email.arizona.edu>
>
> Hi folks,
>>
>> I just went through all the same stuff as both of you to get the arm
>> navigation pipeline work on our custom 7DOF dynamixel based arm. I was able
>> to use the ompl motion planning stack to generate a collision free
>> trajectory that was successfully executed in both simulation and the the
>> actual arm. I would say if you can reliably execute a joint trajectory on
>> you arm it's a relatively small step to get the planning environment set up
>> so that you can get ompl running.
>>
>> Here's what I had to write to get it going:
>>
>> 1). arm_kinematics - your basic IK solver. Provides the following
>> services:
>>   a). get_ik
>>   b). get_fk
>>    c). get_ik_solver_info
>>   d). get_fk_solver_info
>>
>> Packages:
>>   PR2: pr2_arm_kinematics
>>   Mine:
>> http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_controllers/wubble_arm_kinematics
>>
>> 2). arm_kinematics_constraint_aware - basically a wrapper around
>> arm_kinematics. Hooks up to planning environment and checks the initial and
>> desired poses for collisions, also publishes some visualization markers.
>> Adds get_constraint_aware_ik service to all those provided by
>> arm_kinematics.
>>
>> Packages:
>>   PR2: pr2_arm_kinematics_constraint_aware
>>   Mine:
>> http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware
>>
>> 3). joint_trajectory_action_controller - does what you think it does. If
>> your are already does that, I think all you'd need to do is write a wrapper
>> that creates a ROS action interface to it.
>>
>> Packages:
>>   PR2: robot_mechansim_controllers -
>> joint_trajectory_action_controller.cpp
>>   Mine:
>> http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_controllers/ax12_controller_core/nodes
>>
>> 4). After that you would need to write a bunch of yaml configuration
>> files:
>>   a). parameters for motion planning
>>   b). parameters for collision checks and self filtering
>>   c). for collision map - collision sources, basically something that
>> provides a point cloud of stuff around you, like a tilting laser.
>>   d). for collision map - self filter, stuff that should not be present in
>> the cloud above.
>>   e). some padding parameters for planning_environment
>>   f). parameters for ompl_planning and ompl_search
>>
>>     PR2: pr2_arm_navigation stack has all those scattered across a bunch
>> of packages.
>>
>>   You could look at my launch file, it is pretty long but it that has
>> everything in one place:
>>
>> http://code.google.com/p/ua-ros-pkg/source/browse/trunk/arrg/ua_robots/wubble_description/launch/wubble2_empty_world.launch
>>
>> All the parameters that it loads are in here (w2_*.yaml):
>>
>> http://code.google.com/p/ua-ros-pkg/source/browse/#svn/trunk/arrg/ua_robots/wubble_description/params
>>
>> So I think you guys are pretty close to get the motion planner run on your
>> arms, at least the motion planning part, now the grasping pipeline is whole
>> different matter... I don't have experience with that, yet :)
>>
>> Hope this helps you somewhat,
>> Anton
>>
>> On Sun, Dec 5, 2010 at 10:59 AM, Konrad Banachowicz <konradb3 at gmail.com>wrote:
>>
>>> Hi Martin,
>>>
>>> I am doing quiet the same for irb6 manipulator. I have done all servo,
>>> trajectory, URDF stuff already.
>>> Now i am working on running manipulation pipeline on it. For now it's
>>> looks like it would be hard work.
>>> The manipulation pipeline (as far as i know) is used only on PR2 and It's
>>> quiet hard to get any answers about it on the list.
>>> I recently get some stuff working (envirement_server, move_arm,
>>> trajectory_filter) (partially by some ugly hacks) but there is still a lot
>>> of work before I can say it works for me.
>>>
>>> Pozdrawiam
>>> Konrad Banachowicz
>>>
>>>
>>> 2010/12/5 Martin Günther <martin.guenther1980 at googlemail.com>
>>>
>>> On Sun, 5 Dec 2010 17:39:30 +0100
>>>> Martin Günther <mguenthe at uos.de> wrote:
>>>>
>>>> > Dear list,
>>>> >
>>>> > I am currently writing a ROS node for the Neuronics Katana 450 arm and
>>>> > would be happy about a few quick pointers about how to continue. I am
>>>> > aware of the ROS packages katana450, katana_ik_bridge and
>>>> > stair_katana; however, I would like to reuse as much ROS stuff for
>>>> > IK, arm navigation and motion planning as possible, so I decided to
>>>> > rewrite the code from scratch.
>>>> >
>>>> > So far,
>>>> > - I have created a URDF description of the arm;
>>>> > - I can read out the current joint angles and publish them as
>>>> > JointState messages;
>>>> > - I can move the arm to a desired joint angle configuration;
>>>> > - I can move the arm to a target pose in space, using the inverse
>>>> >   kinematics library supplied with the arm (although I'm also eager to
>>>> >   give the ROS IK a try).
>>>> >
>>>> > I have the feeling that I am almost done (right? come on, please!),
>>>> > but I'm a little overwhelmed by the wealth of arm navigation stuff in
>>>> > ROS. What are the messages/services/actions that I should provide to
>>>> > be able to interface my arm to a motion planner, and to use the ROS
>>>> > IK, and so on?
>>>> >
>>>> > Best,
>>>> > Martin
>>>>
>>>> Forgot to mention: The robot arm has realtime controllers for all the
>>>> motors; I can send a spline (or a sequence of splines) there, and it
>>>> will be executed.
>>>>
>>>> Best,
>>>> Martin
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