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

Tue May 18 08:28:10 UTC 2010

On Tue, May 18, 2010 at 9:46 AM, Ben Rudder <b.rudder382 at gmail.com> wrote:

> 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 have seen similar behavior as well on a PR2 simulation (as per the
tutorials), the more common error being that the robot performs a motion
that appears successful from visual inspection, but then waits in the goal
configuration until it times out. I've also seen the warnings that the
current position violates the goal constraints, but not on the PR2, but on
one of our robots (so the error may be on my side and not on the ROS side).
I'm still getting to grips with the internals of the arm_navigation stack
(and making it work with our robots), and I wasn't going to post on the list
until I had a more concise description of the problems I'm seeing, but now
that you bring this up, I can confirm some of your issues.
I'll get back to the list if I find out something meaningful.

Best,

Adolfo

>
> 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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>
>
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-- 
Adolfo Rodríguez Tsouroukdissian, Ph. D.

Robotics engineer
PAL ROBOTICS S.L
http://www.pal-robotics.com
Tel. +34.93.414.53.47
Fax.+34.93.209.11.09
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