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

Sachin Chitta sachinc at willowgarage.com
Mon Mar 7 19:42:43 UTC 2011

Hi Ugo,

I just released the generic arm kinematics (collision aware) package into
unstable. This now lets you do collision aware kinematics for any arm. This
is a combination of David Lu's arm_kinematics package (which is based on the
KDL IK solvers) and code from the pr2_arm_kinematics_constraint_aware

I also updated the corresponding interfaces in pr2_arm_kinematics and
motion_planners in unstable. Let me know if you have any trouble.

Best Regards,

(p.s. Thank you, David for creating arm_kinematics)

On Fri, Mar 4, 2011 at 9:56 AM, Sachin Chitta <sachinc at willowgarage.com>wrote:

> Hi Ugo,
> Move arm indeed is generic and was designed to work with any arm. The only
> command output that is pr2 dependent is the action addressing the trajectory
> controller, so if you implement something for that it should work. Don't use
> the ik_constrained planner, it is now outdated.
> I will fix and release the generic_kinematics package if you are happy with
> it so far.
> I would recommend using ompl as your planner. I just released a new version
> of ompl_ros_interface into unstable. It replaces the old ompl_ros and
> ompl_planning packages for interfacing with the new ompl package from Rice (
> http://ompl-beta.kavrakilab.org/). I will be putting in more tutorials for
> the new package as the days go by and will help you get it running on your
> arm - I intend to use this as a example/use-case for the tutorials as well.
> Regards,
> Sachin
> On Fri, Mar 4, 2011 at 8:27 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
> --
> Sachin Chitta
> Research Scientist
> Willow Garage

Sachin Chitta
Research Scientist
Willow Garage
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