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Questions tagged [arm-navigation]

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Follow point by point a quintic polynomial

I am using ROS Noeticfor the first time, practically applying theoretical robotics concepts. I have to move the robot's TIAgo arm, following a quintic polynomial trajectory in Cartesian space. From ...
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How to get a robot arm to follow the topography of a 3D mesh?

First time on here, really stuck with my project at the moment. I am looking to find out how to get a KUKA robot I am using to follow a path along the vertices of a mesh of a human that I have. I have ...
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1 answer
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ROS package for 4-DOF Arm

I am looking at making my own 4 DOF arm. I see that there was a package "move_arm" that handled motion planning and servo control for an arm, that was made for ROS Groovy. Would there be any ...
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1 answer
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Using the CHOMP motion planner in MoveIt!

Hi, I would like to use the CHOMP motion planner in MoveIt! for a KUKA lightweight arm (with Groovy). I have fairly limited experience with these tools and the tutorials for using CHOMP are limited to ...
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3 answers
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Draw a circle with a robotic arm?

I believe the technical term for this would be "arm navigation planning with hard dynamic geometric constraints". But my question would be how can I implement trajectory planning of a circle ...
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1 answer
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Collision is not detected with cylinder model

I am testing the arm_navigation's collision detection for a virtual object added to the planning scene and a virtual object attached to the robot. When using CYLINDER models, the collision detection ...
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1 answer
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robot_self_filter in hydro

I have a pointcloud from a laserscan and would like to filter out all points which belong to my robot itself. This could be done by the robot_self_filter, but as far as I know the whole arm_navigation ...
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1 answer
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arm_navigation stack

I used the Planning Description Configuration Wizard and autogenerated the proper files. I then chose world as my base link and end_effector as the tip link. when I roslaunch al5b_arm_navigation....
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1 answer
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Moving arm of the Nao robot

Hi folk, I am using the current Nao-ROS stack (fuerte). I want to control the Nao in an abstract way. Now, I am trying to send commands to the nao_controller to move the left arm from the Nao. I found ...
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1 answer
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arm_navigation compilation error on fuerte

As stated on the wiki page http://www.ros.org/wiki/arm_navigation, I installed the sources of the package using: ...
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1 answer
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laser_self_filter crashes when launching PR2 arm_navigation

It is basically a problem reported before by @ASchwa but never got resolved. Though it is a wiki question, I don't have enough Karma, so I am posting as new question. I just want to run ...
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1 answer
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Quadrotor Path Planning with OMPL

I am trying to find a way to do 3D path planning for a quadrotor. This is a custom built quadrotor that will be controlled using mavlink (hopefully!) so not one of the ones already documented on this ...
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1 answer
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arm_navigation stack: ompl node not recognising end effector/tip name for processing Cartesian Goals

I'm trying to utilise the OMPL node to generate trajectories. I've been able to call the ompl_planning/getMotionPlan service on my ompl_planning node by ensuring I've sent through an empty ...
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1 answer
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using arm_navigation_msgs/GetMotionPlan: what setup/nodes are required to receive trajectories programatically

I've been following the ompl tutorials listed here and it all seems fairly straightforward except that it doesn't seem that having the ompl_planning node alone would be sufficient to generate the ...
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1 answer
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Navigation Stack Without sensor

Hi, I wanted to ask if there is a way of using the navigation Stack without the sensor. As I am working on Youbot (Kuka) and we just want to do Goal Point movement using Navigation Stack. I tried the ...
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1 answer
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Most stable ROS version for running PR2?

I started using ROS few months back and have been switching between Fuerte and Groovy lately. I use ROS mainly for interacting with PR2 in simulation. Many tutorials inside ROS related to PR2 seems to ...
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1 answer
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Arm Navigation interfaces for custom manipulators

Hi All, being impressed with the arm_navigation warehouse viewer, I would like to integrate it into the control system of my custom arm. Using the warehouse viewer I was able to get to use my custom ...
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2 answers
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Which grasp planner to use, manipulation pipeline, non PR2 robot

(This question/answer thread was started via email) I am trying to implement the ROS Manipulation Pipeline (perception + grasping) on our own robot. So it's a non PR2, with non-PR2 gripper. Original ...
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1 answer
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trajectory_filter_server crash using <robotname>_arm_navigation autogenerated by wizard

Hi all, Using the Planning Description Configuration Wizard, I autogenerated a robotname_arm_navigation package for my robot. However, when I go to test it in the visualizer, the "Filter ...
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1 answer
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The meaning of velocities, accelerations and time_from_start in JointTrajectoryPoint.msg

I've followed this tutorial When I tried to fill in the action goal of the type JointTrajectoryActionGoal, I didn't know what value shoud goal.goal.trajectory.points[i].velocities[i] and goal.goal....
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1 answer
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Create an Arm Navigation Pkg

Hi, I used this tutorial: http://www.ros.org/wiki/Industrial/Tutorials/Create_a_Arm_Nav_Pkg_for_an_Industrial_Robot to generate arm navigation pkg for two hands that i use in gazebo. i have now the ...
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1 answer
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OpenRave IKFast For >6 DOF Redundant Manipulator

I'm working with a robot arm with 7 degrees of freedom, but as I understand it IKFast only solves up to 6 dof. I can set a free joint using the "--freeindex" argument and am able to make the ...
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1 answer
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Planning scene (Get or Set)

Hello, I don't understand why there are examples with this definition: ...
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2 answers
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Electric get_fk forward kinematics fails simple test

Hello ROS Gurus, I am trying to get the new Electric arm navigation stack working on a pair of custom 6-dof Dynamixel arms (see pi_robot description). The planning wizard worked like a charm and I ...
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2 answers
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The meaning of error msgs in arm_navigation and how to debug

I followed this tutorial http://www.ros.org/wiki/move_arm/Tutorials/MoveArmPoseGoal and modified it slightly to make it move to four different positions. Sometime ...
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1 answer
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ompl ignores collision

Hello to all I builded a package of my Robot (Sträubli TX60L) with the "planning_description_configuration_wizard". Unfortunately the robotarm hits every obstacle on his trajectory (Whether &...
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1 answer
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could ompl deal with mobile manipulation?

dear all, i've finished the object manipulation with the amazing stack arm_navigation. that is, now my robot can grasp objects from a table while the robot base is fixed. however, due to the limited ...
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1 answer
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can we get the penetration depth with CollisionModels?

i find this method in planning_environment::CollisionModels ...
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1 answer
3 views

Planning sequence of motion using arm_navigation/moveit

Hi, I would like to planning sequence of motion with planning_component_visualizer. In the menu handler, there are only the option: set start and set end position.I would like to add option: "set ...
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1 answer
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How to check whether a virtual object is colliding with another?

Hi All, I have to simulate a planning environment where objects whose poses are randomly determined are added. It is obvious to check if the just-added object is in collision with the robot, as in ...
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2 answers
6 views

How to benchmark OMPL-planner solutions?

Hi All, How to benchmark OMPL-planner solutions if we use the ompl_ros_interface? I wish there is a standard way to do so as if we use the standalone OMPL (see this tutorial). What do you think? How ...
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1 answer
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arm_navigation - cylindrical links don't avoid collision

Hi! I'm following the arm_navigation tutorials and I went through the planning description configuration wizard successfully. However, when trying 'Planning Components Visualizer', I couldn't get my ...
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1 answer
2 views

environment_server doesn't subscribe to collision_map

I want to generate a collision map from kinect's pointcloud and use this info to do a collision-free arm navigation. so i write a node to receive pointcloud from kinect and publish collison_map with ...
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1 answer
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collision map ignored in planning components visualizer

I have used the planning description configuration wizard to set up arm_navigation for a simple robot with a custom urdf. I have then edited one of the files created to set "use collision map&...
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1 answer
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Interrupting a joint trajectory

I am using the move_arm package in the arm_navigation stack to control a joint trajectory, and I'd like to be able to interrupt (completely cancel) the trajectory while it's in progress. Should I be ...
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1 answer
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Fuerte - kdl_conversions package missing

I recently downloaded the latest arm_navigation (from https://kforge.ros.org/armnavigation/armnavigation) for my recent Fuerte install. However when I attempt to build the ...
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1 answer
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arm_kinematics_constraint_aware dies after call to get_fk

I am using autogenerated custom lwa_arm_navigation stack acquired from Planning Description Configuration Wizard on Fuerte. Arm is the 7 DOF Schunk LWA provided ...
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1 answer
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arm_navigation generation always in collision for Robonaut?

I tried to run the Robonaut2 URDF through the arm_navigation generation tutorial, but it looks like the end-effector is always in collision, and thus i can not generate plans using the ...
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1 answer
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Can't remove added collision model

I am doing manipulation with the PR2, and have trouble with removing a collision model I added earlier. I realize that this might be because I don't fully comprehend how the arm_navigation stack works....
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1 answer
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arm_navigation : planner_service_name v.s. planner_id

The former one belongs to arm_navigation_msgs::action_goal.planner_service_name The latter one belongs to ...
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2 answers
5 views

Impossible to set a PlanningScene

Hi all. I'm trying to call the "environment_server/set_planning_scene_diff" service to get a PlanningScene to perform some collision checking. However, after a couple of days trying and ...
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1 answer
9 views

How to get the clearance of a motion path?

Hi All, Having a motion path (trajectory) using ompl as in here, how to get the clearance of it? I found a perfect function for it in the ompl-pkg API here. How to use it? How could we put it ...
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1 answer
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arm navigation - problem with violating joint limits

Hello all, I am having a problem with the pr2 violating the joint limits that are set for it in arm_navigation. I have done a little research on it and it sounds like the joint limits are set to be ...
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2 answers
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broken dependencies in fuerte on Ubuntu 12.04

Hi, I'm trying to install ros-fuerte-arm-navigation in 12.04 but get broken dependencies in image-common, navigation, robot-model, and visualization. The problem seems to be a conflict with oneiric ...
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1 answer
2 views

Problem calling filter_trajectory service

Hello. I'm writing my own cartesian controller for my Powerball arm following this tutorials. After a few days working with it I get a correct control and now, my next step is get a correct movement ...
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1 answer
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move_arm how ignore his arm to collision

I know my title is not clear but it's difficult to explain. So I use a wizard description package with a robot arm (Package Arm navigation). I can send a goal(pose and articular) and the robot follow ...
0 votes
1 answer
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moving custom robot arm to pose goal

I'm following the tutorial at for moving the PR2 arm to a pose goal (link) but I'm having trouble to transitioning this to a custom non-pr2 robot in simulation. As I understand it the motion plan ...
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1 answer
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ros-fuerte-arm-navigation installation failure

Hi, I am trying to install the ros-fuerte-arm-navigation package on a fresh install of ROS. I am getting the following errors when I run: sudo apt-get install ros-fuerte-arm-navigation --fix-missing <...
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1 answer
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Using CHOMP in arm_navigation

Hi there! I'm currently trying to get the CHOMP motion planner working for my robot arm using arm_navigation. So far with no luck, because the planner crashes here at line 795 (@chomp_motion_planner/...
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1 answer
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problem with pick and place application tutorial

Hi, I am following the tutorial in the following link : http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Writing%20a%20Simple%20Pick%20and%20Place%20Application I am using ROS ...