[ros-users] move_arm tutorial - Moving the arm to a pose goal

[Ben Rudder]

Hi All

With the move_arm tutorials, I am always getting warnings that the current
position violates the goal constraints, which is pretty obvious, but it
often also misses a success message, or more frequently actually errors once
it has reached the goal (in each of the four functions) with 'trajectory
controller reports error'. Does this happen to everyone or should I check my
system for missing things?

I am using the C++ versions.

Also, in an effort to find out what was going wrong, I tried using the CHOMP
planner, which I still have not managed to make function at all for
planning...

Thanks in advance
Ben

On Tue, May 18, 2010 at 6:42 AM, Advait Jain <advait at cc.gatech.edu> wrote:

> Thanks Sachin.
>
> In case other people are also interested in using move_arm from
> python, my python equivalent for the MoveArmPoseGoalComplex
> tutorial is at -
>
>
> http://code.google.com/p/gt-ros-pkg/source/browse/trunk/hrl/hrl_simple_arm_goals/src/hrl_simple_arm_goals/move_arm_pose_goal.py
>
> It does the same thing as the C++ tutorial (in simulation).
>
> Advait
>
>
> On Mon, May 17, 2010 at 1:12 AM, Sachin Chitta <sachinc at willowgarage.com>
> wrote:
> > Hi Advait,
> >
> > Yes, the helper functions are only in C++ right now. You will be able
> > to address the move_arm node directly from both C++ or python using
> > the underlying action API. Have a look at this tutorial for how you
> > can specify pose goals directly without needing the extra helper
> > functions (
> http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoalComplex)
> >
> >  I don't have python tutorials but you should be able to follow the
> > python tutorials for actions
> > (
> http://www.ros.org/wiki/actionlib_tutorials/Tutorials/Writing%20a%20Simple%20Action%20Client%20%28Python%29
> ).
> >
> > I will be happy to accept a python version of the helper functions though
> :-)
> >
> > Sachin
> >
> > On Sun, May 16, 2010 at 8:37 PM, Advait Jain <advait at cc.gatech.edu>
> wrote:
> >> I am trying to replicate the functionality of this tutorial from a
> >> python node -
> >> http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoal
> >>
> >> It isn't clear to me if there is a python equivalent for this function:
> >> move_arm_msgs::addGoalConstraintToMoveArmGoal(desired_pose,goalA);
> >>
> >> Am I missing something or do I need to write my own python
> >> versions for addGoalConstraintToMoveArmGoal (C+ code in
> >> move_arm_msgs/utils.h) and
> >> poseConstraintToPositionOrientationConstraints
> >> (motion_planning_msgs/convert_messages.h) to use the
> >> move_arm package from python?
> >>
> >>
> >> Advait
> >> _______________________________________________
> >> ros-users mailing list
> >> ros-users at code.ros.org
> >> https://code.ros.org/mailman/listinfo/ros-users
> >>
> >
> >
> >
> > --
> > Sachin Chitta
> > Research Scientist
> > Willow Garage
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
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