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

[Sachin Chitta]

Hi Ben,

Thanks for trying out the move_arm stack. Yes, I know that message is
annoying, I will replace it with something more meaningful soon.
Also, the reason move_arm might error close to the goal is because our
controllers are not very well tuned in simulation. I will look into
getting a better set of gains in simulation.

CHOMP has not been paid as much attention by us recently. However, we
are working on bringing it back up to speed - it is in our roadmap
although it might take a while to get to it. I will send out a note on
this list as soon as we are more confident that its working properly.

There will be a significant push again over the next couple of months
in terms of adding new features to the arm_navigation stacks. The
current version of the code was used in a big demo at ICRA (see the
manipulation part of the video at
http://www.willowgarage.com/blog/2010/05/12/icra-montage). I will soon
send out a link to our roadmap so people on this list can be more
aware of our plans and can also contribute to the effort.

Thank you for the feedback, please keep it coming. Its extremely
valuable to know how people are doing with this code.

Best Regards,
Sachin

On Tue, May 18, 2010 at 12:46 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 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
>> > _______________________________________________
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>> > ros-users at code.ros.org
>> > https://code.ros.org/mailman/listinfo/ros-users
>> >
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-- 
Sachin Chitta
Research Scientist
Willow Garage