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

[Antons Rebguns]

Ugo,

> I'll be happy to! Where are you at regarding the grasping pipeline?

Well, I cac plan trajectories and execute them, I can segment objects
from the floor and I hooked up OpenRAVE grasp planning to figure out
the grasp pose for the gripper. Looking at the object_manipulator
package I think I have all the required components that need to put
together. Is that the package you are using?

> Things are not yet completely clear in my mind regarding the grasping
> pipeline, so I haven't written a tutorial. But it's definitely in my todo
> list.
>
> Regarding my previous questions, I was in fact missing the opml_planning. I
> added it and it is now closer to be working ;)

Good, glad to hear that. There's one problem I had with OMPL, that
took me a few hours to figure out. It was always failing to plan
saying that my current pose is in collision, which it definitely
wasn't. It turned out it thought that 2 links of the arm were in
collision even though they are pretty far away in that configuration.
I had to disable collision checks between these two links. If anybody
has an idea what might be happening there I'd like to hear it. Maybe
there's a way to visualize the collision meshes that OMPL uses to
figure out if current state is in collision.

Anyway, you might not see that at all :)

Thanks,
Anton

> On Fri, Mar 4, 2011 at 5:07 PM, Antons Rebguns <anton at email.arizona.edu>
> wrote:
>>
>> 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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>> >
>> >
>
>
>
> --
> 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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