Hi Ugo,<br><br>Thanks for the update. I have been releasing into unstable so far so diamondback might not be synced up correctly. I will release the latest versions from unstable into diamondback and that should fix the problems. <br>
<br>And yes, the syntax for ompl_planning is now different in diamondback from cturtle. <br><br>Regards,<br>Sachin<br><br><div class="gmail_quote">On Tue, Mar 8, 2011 at 6:58 AM, Ugo Cupcic <span dir="ltr"><<a href="mailto:ugo@shadowrobot.com">ugo@shadowrobot.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi Sachin,<br><br>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: <a href="https://code.ros.org/trac/wg-ros-pkg/ticket/5040" target="_blank">https://code.ros.org/trac/wg-ros-pkg/ticket/5040</a>). <br>
<br>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in ompl_ros_interface/ won't work as the pr2_arm_navigation_planning/config/ompl_planning_configs.yaml seems to be out of date).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.<br>
<br>Cheers,<br><font color="#888888"><br>Ugo</font><div><div></div><div class="h5"><br><br><div class="gmail_quote">On Mon, Mar 7, 2011 at 7:42 PM, Sachin Chitta <span dir="ltr"><<a href="mailto:sachinc@willowgarage.com" target="_blank">sachinc@willowgarage.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi Ugo,<br><br>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. <br>
<br>I also updated the corresponding interfaces in pr2_arm_kinematics and motion_planners in unstable. Let me know if you have any trouble.<br><br>Best Regards,<br>Sachin<br><br>(p.s. Thank you, David for creating arm_kinematics)<br>
<br><div class="gmail_quote"><div>On Fri, Mar 4, 2011 at 9:56 AM, Sachin Chitta <span dir="ltr"><<a href="mailto:sachinc@willowgarage.com" target="_blank">sachinc@willowgarage.com</a>></span> wrote:<br></div>
<div><div></div><div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); 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>
<br>I will fix and release the generic_kinematics package if you are happy with it so far.<br><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>
<br>Regards,<br>Sachin<br><br><div class="gmail_quote"><div>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>
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>
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<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></div></div><div><div></div><div><br><br clear="all"><br>-- <br>Sachin Chitta<br>Research Scientist<br>Willow Garage<br>
</div></div></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>
</div></div></blockquote></div><br><br clear="all"><br>-- <br>Sachin Chitta<br>Research Scientist<br>Willow Garage<br>