Hi Sachin,<br><br><div class="gmail_quote">On Fri, Mar 4, 2011 at 5:56 PM, Sachin Chitta <span dir="ltr"><<a href="mailto:sachinc@willowgarage.com">sachinc@willowgarage.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">
Hi Ugo,<br><br>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 Don't use the ik_constrained planner, it is now outdated.<br>
</blockquote><div>Ok, I almost got ompl and chomp working (I based this on the pr2_arm_navigation_planning package).<br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>I will fix and release the generic_kinematics package if you are happy with it so far.<br></blockquote><div>Very happy with it! Thanks! <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>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 (<a href="http://ompl-beta.kavrakilab.org/" target="_blank">http://ompl-beta.kavrakilab.org/</a>). 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.<br>
</blockquote><div><br>Ok I'll check that new version on monday then. <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<br>Regards,<br>Sachin<br></blockquote><div>Cheers,<br><br>Ugo <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><br><div class="gmail_quote">
<div class="im">On Fri, Mar 4, 2011 at 8:27 AM, Ugo Cupcic <span dir="ltr"><<a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a>></span> wrote:<br></div><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
<div><div></div><div class="h5">
Hi,<br><br>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. <br><br>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:<br>
The only command output from this package seem to be a pr2_controllers_msgs::JointTrajectoryAction. So if I implement my own <b>joint_trajectory_action_controller.cpp</b>, which is a SimpleActionServer<pr2_controllers_msgs::JointTrajectoryAction>, to move my arm, will it work?<br>
<br>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 <a href="https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics" target="_blank">https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics</a>). <br>
<br>Hope you can give me some hints on what I am doing wrong. <br><br>Cheers,<br><br>Ugo<br clear="all"><font color="#888888"><br>-- <br>Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a> <br>
Software Engineer | 251 Liverpool Road | <br>need a Hand? | London N1 1LX | +44 20 7700 2487 <br><a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>
</font><br></div></div><div class="im">_______________________________________________<br>
ros-users mailing list<br>
<a href="mailto:ros-users@code.ros.org" target="_blank">ros-users@code.ros.org</a><br>
<a href="https://code.ros.org/mailman/listinfo/ros-users" target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
<br></div></blockquote></div><font color="#888888"><br><br clear="all"><br>-- <br>Sachin Chitta<br>Research Scientist<br>Willow Garage<br>
</font></blockquote></div><br><br clear="all"><br>-- <br>Ugo Cupcic | Shadow Robot Company | <a href="mailto:ugo@shadowrobot.com" target="_blank">ugo@shadowrobot.com</a> <br>Software Engineer | 251 Liverpool Road | <br>need a Hand? | London N1 1LX | +44 20 7700 2487 <br>
<a href="http://www.shadowrobot.com/hand/" target="_blank">http://www.shadowrobot.com/hand/</a> @shadowrobot <br><br>