[ros-users] pr2_tabletop_manipulation_apps/Tutorials/Writing a Simple Pick and Place Application

[Matei Ciocarlie]

Hi Manuel,

First of all, what robot are you using? Is it a real robot, or a simulated one?

The job of the Hand posture controller is to essentially close the
hand when a grasp is being executed. Our implementation for the PR2 is
quite simple, it just closes the gripper as far as it will go. It
pretty much always succeeds. I can not really imagine what could cause
it to never send back a reply. Maybe 10 seconds is not enough time,
like Ugo suggested, but I've never seen that happen.

Please send me some more info on your setup and we can try to figure
out what's wrong.

Matei



On Tue, Mar 1, 2011 at 4:52 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
> Hm may be the time out value is not long enough?
>
> I think you can modify it in
> ros/object_manipulation/object_manipulator/src/tools/mechanism_interface.cpp,
> line 910.
>
> 2011/3/1 Manuel Rodríguez <mrodriguez at robotnik.es>
>>
>> Hi all,
>>
>> I'm trying to run the .cpp file written in this tutorial (copy-paste). The
>> arm grasps the object but does not lift it.
>>
>> The rosrun shell shows this error:
>> [ERROR] [1298982592.493542455, 61.186000000]: The pickup action has failed
>> with result code -3
>>
>> And the roslaunch shell:
>> [ERROR] [1298982592.492881311, 61.187000000]: Hand posture controller
>> timed out on goal (2)
>> [ERROR] [1298982592.493188051, 61.187000000]: Grasp error; exception:
>> grasp execution:mechanism:Hand posture controller timed out
>>
>> Anyone knows what happens?
>> Sorry, I'm a ros-newbie.
>>
>> Thanks.
>>
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>
>
>
> --
> Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com
> Software Engineer | 251 Liverpool Road |
> need a Hand? | London N1 1LX | +44 20 7700 2487
> http://www.shadowrobot.com/hand/ @shadowrobot
>
>
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-- 
Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780