Setup: ubuntu 14.04 LTS, ROS indigo, moveit, youbot in vrep simulator Problem Description: I have a node from vrep publishing to topic /joint_states. Then I run the demo.launch from config pkg, commenting out the joint_state_publisher node. Finally, when I test my own code, calling the getCurrentJointValues() function, the returned joint values stay the default values not updated.
The code I write is very similar to Move Group Interface Tutorial.
moveit::planning_interface::MoveGroup group("youbot_arm");
moveit::planning_interface::MoveGroup::Plan my_plan;
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
std::vector<double> group_variable_values;
group.startStateMonitor();
group_variable_values = group.getCurrentJointValues();
while(1){
ROS_INFO_STREAM("current joint value:");
for(int k = 0;k < group_variable_values.size();k++){
ROS_INFO_STREAM(group_variable_values[k]<<",");
}
sleep(3.0);
}
From the output of rostopic echo /joint_states, I get the joint position for "arm_joint_1". "arm_joint_2", "arm_joint_3", "arm_joint_4", "arm_joint_5" are 0.8, 0, 0, 0, 0. However, I get 2.94961, 1.35263, -2.59181, 0, 0 from my program, which is a default value I believe. Also, the rviz bring up by demo.launch indeed can show the correct current position of the robot, can the gui planning module works just fine. I just can't access the current state from code.
Can anyone tell me any possible directions I should go? Thank you very much!
wei
Originally posted by weitang on ROS Answers with karma: 31 on 2018-01-26
Post score: 0
Original comments
Comment by gvdhoorn on 2018-01-27:
I don't think you can use demo.launch in the way you describe. Can you clarify what you changed exactly?
Comment by weitang on 2018-01-27:
In the demo.launch, since there is no real robot, so there is this fake joint state publisher, publishing to /joint_states. I already have a node publishing this message, so I delete this fake joint state publisher.