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

[Ugo Cupcic]

On Fri, Mar 4, 2011 at 5:51 PM, Antons Rebguns <anton at email.arizona.edu>wrote:

> 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?
>
Yes I'm using that package. You seem to have everything ready for
integration then!

If you do some object recognition after your segmentation, you should also
probably have a look at the household_objects node.

>
> > 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
> >> >> >
> >> >> >
> >> >> > _______________________________________________
> >> >> > ros-users mailing list
> >> >> > ros-users at code.ros.org
> >> >> > https://code.ros.org/mailman/listinfo/ros-users
> >> >> >
> >> >> >
> >> >
> >> >
> >> >
> >> > --
> >> > 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
> >> >
> >> >
> >> > _______________________________________________
> >> > ros-users mailing list
> >> > ros-users at code.ros.org
> >> > https://code.ros.org/mailman/listinfo/ros-users
> >> >
> >> >
> >
> >
> >
> > --
> > 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
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
>



-- 
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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