Questions tagged [cartesian]

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PILZ Industrial Motion Planner claims missing cartesian limits

I am trying to use the Pilz Industrial Motion Planner and follow the tutorial at https://ros-planning.github.io/moveit_tutorials/doc/pilz_industrial_motion_planner/pilz_industrial_motion_planner.html. ...
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How can I accurately calculate the robot configuration for a desired cartesian position, given manfuacturing discrepancies?

This is a question I have wrestled with for a while now and would appreciate any advice. I am writing an application which allows programming of different 6DOF industrial robotic arms. The output of ...
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Robot doing random jerks while moving using computeCartesianPath

I am following following tutorial MoveIt Tutorial. I am trying to generate waypoints and moving the arm through that. ...
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simulator for a cartesian(gantry) robot

I wanna simulate a cartesian(gantry) robot in a simulator and solve the forward and reverse kinematics. Is it possible with Gazebo or MOVEIT? which one and how? Or if you suggest any free software ...
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control computeCartesianPath's trajectory.points.size

i set this parameter to 200 rosparam set /move_group/ompl/minimum_waypoint_count 200 method1: ...
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Set cartesian limits with moveit!

Hello! I'm working with moveit in ros melodic and a Hyundai robot. When I generated the robot files I found a file labeled cartesian_limits.yaml as show below: ...
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Using MTC to Plan a Circular Path

Hi, I'm currently trying to use the ros2 branch of MTC (MoveIt Task Constructor) to plan a circular motion to open a door. I know that it's possible to use the ...
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Trac IK cannot computeCartesian path at all

I decided to give Trac IK a shot after urkinematics solver was too hard to implement on 2 ur10 robots. It's "fine" I guess, aside from not being able to find IK once in a while but it is ...
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Compute joint angles of movement without execution

I am planning, executing and recording linear robot movement with computeCartesianPath(). I would like to "simulate" this program. Essentially just ...
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Move Cartesian with MoveIt

Hello, i would like to move the robot "Franka Emika Panda" with the cartesian movement in C++. I make the configuration which is recommended on the homepage. My current result is to move the ...
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How to get joint, speed, acceleration values of cartesian path?

I'm currently working with OMPL and waypoints. This tutorial explains how to use them. Everything working fine and the plan from start to goal is executed. The terminal tells me the following: ...
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compute_cartesian_path obstacle avoidance?

Hello ROS Community! I have the following scenario in gazebo: robotic arm + wall + obstacle (see the figure) Based on (simulated) kinect sensor data i am able to detect the obstacle and determine the ...
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Using MoveIt! to follow a path based on a set of Cartesian coordinates

Hi, I have created a 3D path on MATLAB and have exported the x,y and z coordinates into a .txt file after performing an animated plot. This file contains three columns (one for each set of coordinates)...
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Fail to catkin_make descartes pacakge

I am sorry that I just started to learn the ROS and now want to use the cartesian motion planner for a project. However, I installed the package of descartes from https://github.com/ros-industrial-...
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how to plan a trajectory in cartesian space using OMPL

Hi!Guys! I use OMPL to plan a trajectory in Moveit! But it seems that OMPL just plan in joint space as default. I wonder can OMPL plan a trajectory in cartesian space in Moveit. I will be grateful if ...
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Best way to use Moveit for teleoperation?

I've seen this topic discussed a bit here, and on the MoveIt! mailing list here and here, but those conversations are pretty old now and I'm wondering if there is a clearer answer now. I have a 7 DOF ...
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How to command velocity in MoveIt!

Hello, I'm trying to command an arm in MoveIt! using a 3D mouse. I'm not working with real hardware, or gazebo, its all using MoveIt! So far I am able to get the current joint positions of the robot, ...
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avoid obstacles while using computeCartesianPath

Hi everyone! I got a problem while using computeCartesianPath to avoid obstacles in moveit! I define an object in the xacro file, and indeed the object could be detected and avoided. but all i want ...
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UR5 use catesian coordinates in ur_driver test_move.py

Hi, i would like to write some catesian coordinates in test_move.py but i can only change the joint positions. Has anyone an idea? Link to test_move.py: https://github.com/ros-industrial/...
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Moveit, cartesian planning dual arm

Hey guys, I'm trying to drive through multiple waypoints and would like to use a cartesian planner for this. It is working when i plan for each arm individually cause i can plan for each endeffector ...
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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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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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Poor performance of cartesian controller in the x direction on pr2

Hi everyone. I am using this controller for pr2 arm control, with the example configuration. The arm moves quite well in y and z direction, but does really poorly in x direction (approaching/leaving ...
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