[ros-users] move_arm, motion_planner, mechanism_controllers, ... lost :S

[Antons Rebguns]

Ugo,

Let me know if you have any questions or need clarification on
anything. I, on the other hand, trying to get the grasping pipeline
working and I saw that you made some considerable progress there. Care
to share you experiences?

Thanks,
Anton

On Fri, Mar 4, 2011 at 9:53 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
> Hi,
>
> Yes I saw it a while ago, and had forgotten about this link. Thanks.
>
> I'll check your code and see if it helps me with my problems :)
>
> Cheers,
>
> Ugo
>
> On Fri, Mar 4, 2011 at 4:44 PM, Antons Rebguns <anton at email.arizona.edu>
> wrote:
>>
>> Ugo,
>>
>> Have you looked at this tutorial:
>>
>>
>> http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm
>>
>> I outlined the steps I took to make my arm work with ROS motion
>> planning pipeline.
>>
>> Anton
>>
>> On Fri, Mar 4, 2011 at 9:27 AM, Ugo Cupcic <ugo at shadowrobot.com> wrote:
>> > Hi,
>> >
>> > I'm getting more and more lost trying to implement the move_arm
>> > properly, so
>> > sorry in advance if my questions are a bit messy.
>> >
>> > At first I duplicated the move_arm package and completely modified it
>> > for my
>> > arm. It kind of worked but it didn't seem like a good solution, as
>> > move_arm
>> > seems to be very generic:
>> > The only command output from this package seem to be a
>> > pr2_controllers_msgs::JointTrajectoryAction. So if I implement my own
>> > joint_trajectory_action_controller.cpp, which is a
>> > SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction>, to move
>> > my
>> > arm, will it work?
>> >
>> > To use the generic move_arm package, I'm still missing a motion_planner
>> > (I
>> > think). Should I try to use the ompl_planner or the
>> > ik_constrained_planner
>> > or something else? When I'm trying to compile the ik_constrained_planner
>> > it's failing to build due to the generic_kinematics overlay (from
>> >
>> > https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics).
>> >
>> > Hope you can give me some hints on what I am doing wrong.
>> >
>> > Cheers,
>> >
>> > Ugo
>> >
>> > --
>> > 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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>> >
>> >
>
>
>
> --
> 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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