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

[Ugo Cupcic]

Hi Sachin,

I switched to unstable today and I can confirm that it's working perfectly
in my case. I had to modify ik_utilities.py, in order to use the specified
start_angles (see bug #5040:
https://code.ros.org/trac/wg-ros-pkg/ticket/5040).

I also had to update my ompl planning parameter file. The syntax seems to be
different in unstable and in diamondback (by the way, I think that the
example in ompl_ros_interface/ won't work as the
pr2_arm_navigation_planning/config/ompl_planning_configs.yaml seems to be
out of date). You can have a look at ticket #5062 for more details.

Cheers,

Ugo

On Mon, Mar 7, 2011 at 7:42 PM, Sachin Chitta <sachinc at willowgarage.com>wrote:

> 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
> package.
>
> 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,
> Sachin
>
> (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 the ik_constrained planner, it is now outdated.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
>



-- 
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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