Questions tagged [joints]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
0 answers
33 views

What joint combination gives you an 6 DoF workspace?

If you want to have a 6 DoF workspace of your end-effector you need 6 joints. But how exactly do the joints have to be ordered? For instance: A robot with 6 revolute joints where all the rotation ...
Sven Fritsch's user avatar
0 votes
1 answer
120 views

Joint Position Controller Plugin doesn't subscribe to any topics

I am trying to get the Joint Position Controller working with either Gazebo Fortress of Gazebo Garden. For the former I start the demo simulation with: ...
fortytwo's user avatar
0 votes
1 answer
65 views

No transform from [wheel_left_link] & [wheel_right_link] to [odom] Rviz ERROR

I'm getting this error in Rviz when spawning Turtlebot Kobuki in Gazebo, although all other links transforms are fine https://imgur.com/8WBCfsC Could someone tell me what's wrong. Thanks in advance ...
user avatar
0 votes
2 answers
31 views

General understanding of ros-canopen

Hello, over the last couple days i tried to understand the concept of ros-canopen. I do have a drive motor from dunkermotor which conforms to CiA 402. Also i do have a PEAK-USB adapter to connect the ...
user avatar
0 votes
1 answer
16 views

Moving Joints in Gazebo simple example?

Hello Guys, i have created my own arm model in gazebo with models from blender. I combine all meshes with joints to have a arm. Now i have no idea how i could move the joints. I have a SDF model with ...
user avatar
0 votes
1 answer
3 views

Creating a dynamixel action client controller

I am following this tutorial: http://wiki.ros.org/dynamixel_controllers/Tutorials/Creatingdynamixelactionclient When I run the command python trajectory_client.py ...
user avatar
0 votes
1 answer
9 views

moveit joint with more than 2pi rotation

hey, i was wondering if im doing something wrong or if moveit cant handle revolute joints which surpass -2pi/2pi. im extending an ur5 with a contiunous joint and moveit automatically limits it to -pi/...
user avatar
0 votes
1 answer
6 views

Can someone explain geometry_msgs as used for robot arm poses e.g.?

I'm trying to work with a robot arm, and struggling to find anything to explain in detail how anything works. I have gone through the ROS documentation tutorials, and the PR2 moveit tutorial for ...
user avatar
0 votes
1 answer
5 views

Moveit: "Group 'arm' includes joints that have more than 1 DOF

I have this error message from ROS when loading the model in the C++ ROS node. All joints in the model have only 1 axis of rotation so this message does not make sense. is there any reason why this ...
user avatar
0 votes
1 answer
8 views

TF (nan value) error in revolute joints (in RViz)

hi . this is my URDF file . when i load this file in Rviz i have error : ...
user avatar
0 votes
1 answer
19 views

URDF Links and Joints Orientation

I have created a URDF file for my six axis robot manipulator. I can launch it to visualize it in rviz via a launch file. Here is how it looks in rviz : When I try to move the manipulator using the ...
user avatar
0 votes
3 answers
19 views

gazebo set joint angles by ROS

Hi everyone! I have a robot arm model in Gazebo with several "revolute" joints. I simply want to set the angles of the joints by a ROS service, topic or whatever WITHOUT any closed-loop ...
user avatar
0 votes
1 answer
6 views

Using a joint with motor on other than parent link thru Transmission

I have made a custom robot arm and I'm making an URDF file for that. situation: lower arm, mounted on base upper arm mounted on lower arm motor for upper arm mounted on base motor and upper arm ...
user avatar
0 votes
1 answer
10 views

Connect Lynxmotion AL5d arm to ROS

I am trying to connect with a Lynxmotion AL5d arm to ROS using an SSC32 servo controller (https://github.com/smd-ros-devel/lynxmotion_ssc32). I realize that I need to publish joint trajectories to do ...
user avatar
0 votes
1 answer
2 views

Getting the joint values of a computed path to a pose goal

Hi everybody, I'm using moveit with an UR5. The planner I use is the RRTConnectkConfigDefault-planner. The goal for the planner is a pose. My question is now: Is there a way to retrieve the joint ...
user avatar
0 votes
1 answer
15 views

how to move robot in gazebo using joints or motors

I have one urdf file for an car look robot . I would like to move the robot in the gazebo simulator. the car have 4 links for 4 wheel. 4 joints attached with the 4 wheel link. I also add actuator and ...
user avatar
0 votes
1 answer
1 view

Joint configuration issues with Schunk Powerball-MoveIt integration

Hello everybody, I am currently attempting to integrate the Schunk Powerball manipulator with MoveIt through the ROS packages developed by Fraunhofer IPA (github.com/ipa320) and experience some issues ...
user avatar
0 votes
1 answer
14 views

Gazebo - joints control in position

Hi Guys! I'm new of gazebo world. I've build a little arm with 3 links and 2 joints. With the user interface i can assign a forse to a joint or a position too (in degree for example). I cannot find a ...
user avatar
0 votes
1 answer
2 views

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 ...
user avatar
0 votes
1 answer
2 views

Gazebo physics solver question: conservation of momentum

I'm trying to work with a door model that does not behave as I would expect. I am trying to get the door to swing freely once a force is imparted to it, but no matter what I change in the urdf, the ...
user avatar
0 votes
1 answer
8 views

nao_driver and joint_states with NaoQI 1.12

Hi, I am using NaoQi 1.12 and the stable ROS Electric version. It is all running fine, except the joint_states which are published by the nao_driver node. I am able to publish new joint values which ...
user avatar
0 votes
1 answer
19 views

View Joint Axes in rviz?

Is there a way to view the axes of the joints in rviz, similar to how I can click a checkbox and view the links of my robot? I've figured out how to move the joints using the gui:=true parameter with ...
user avatar
0 votes
1 answer
11 views

Gazebo freaks when joints hit limits

I'm finishing up a gazebo plugin for servo control of joints. I've noticed that whenever a joint goes past the lower/upper limits defined in the urdf, that all joints in my model fly off to Neverland ...
user avatar
0 votes
1 answer
1 view

arm_navigation reports JOINT_LIMITS_VIOLATED often

I'm trying to use the arm_navigation stack to do some motion planning on the pr2, and I notice that I often get an error code of JOINT_LIMITS_VIOLATED. [I'm not really sure what this is about, but it ...
user avatar
0 votes
1 answer
6 views

hinge2 type joints in URDF

I've gotten familiar with the standalone gazebo project using .model and .world files to describe robots. Currently trying to figure out ROS and URDFs. It looks like the available joint types in URDF ...
user avatar