Questions tagged [movegroup]

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What link move_group get current pose refers to?

I have a Techman robot arm and I write a python script to read the current pose (pos : xyz, quar:xyzw) but I don't know if it's the base or end effector link that the position corresponds to. Anyone ...
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UR5 arm failing to reach goal position, Unable to sample any valid states

Hi, I have a UR5 robotic arm. The arm is mounted on a table surface. I have created the following xacro (workcell.xacro) for a combination of ...
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Choosing the right tools for motion planning

Hi everyone, I'm developping a pick and place application with an UR3 robot. I have a action server which send the Pose of the object to pick in my robot's base_link frame. Now I would like to make ...
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Moveit can't execute a plan with MoveGroupInterface

Hello, I am trying to move a group from my own robot with a joint goal, with the MoveGroupInterface class. When I use move() the group moves perfectly to the joint goal in rviz. Now I want to add ...
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MoveIt detect collision for disabled links in SRDF

Hello, I’m new to this community so if I’ve made some mistakes please let me know. My problem description is as follows: I created a new arm+sensor+gripper URDF and used the MoveIt Setup Assistant to ...
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Starting state out of bounds for a real UR robot

I am working with a real UR5e robot and I can see the current robot pose and its update when it's moved manualy in moveit. However, I am not able to plan, because it's always Failed result, due to: <...
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How to use move group interface in a sub function?

Hello, Because my robot have 3 different targets need to reach in a loop, I want to merge the same line of each move group in a sub function to let the whole program more easy to read. I think it will ...
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How to fix end effector direction to approach object with MoveIt

Hello, My question is that how to fix end effector orientation to approach object(move forward) with MoveIt? I already let my robot to move to a given goal position(x, y, z). If I would like to let ...
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MoveIt End effector moves correctly but reports back different orientation

I've got a simulation setup of the Kuka KR6 Agilus running in Gazebo using MoveIt for movement. In order to move the robot I'm calling MoveGroupInterface::setPoseTarget and MoveGroupInterface::...
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Create a subscriber in Move Group Python Interface to keep getting desired poses to plan and execute

My purpose: In the Move Group Python Interface section in the Moveit it tutorials(kinetic version), it shows we can plan a motion for a move group to a desired pose for the end-effector and excute it ...
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Computing a Motion Plan in an Action Server ExecuteCallback

I'm trying to implement motion control through an RVIZ panel, and I've decided to set up an action server between the gui (client) and another program which acts as the server. I have successfully ...
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How to use MoveIt without a real or simulated robot

Hello, is there a way to simply do the path planning of a robot with moveit with a given URDF without the execution part of the robot? I dont want to supply any ...
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FollowJointTrajectoryAction feasibility checking

MoveIt seems to do some sanity checking before executing trajectories and I was wondering if using the follow_joint_trajectory action gets you those same checks. I ...
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Check if target joint position is valid

Hi, I was wondering if there is a way to check if a goal pose of a planned path (planned in moveit with OMPL) is a valid pose, meaning that joint position constraints, collision, etc. are taken into ...
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Follow a moving point

Hello, i want to follow a moving point which i get published by a 3D camera with the tool of my UR3 Robot. So i need to dynamicly update the goal of my movement. I can move to the point statically ...
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Moveit Group not found: issues executing a plan via cpp

I have created a standard MoveIt! package. I want to control this package "sia5d_cmd" using a node. There are lots of examples of code for this, but no explicit information as to how to get ...
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catkin_make error

I am trying to do trajectory planning for a robot arm and for that I have a cpp code. When I try to build it I receive an error. I am using ROS Kinetic in Ubuntu 16.04. I am new to ROS and I would be ...
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MoveIt: troubles with joint values

I have just started with ROS and MoveIt! and I'd like to use it for planning trajectories on a Sawyer robot (ROS version: kinetic). I have followed the tutorial on SDK intera webpage then I went ...
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Move_group_interface_tutorial: orientation vs. position

Hi! I am learning how to plan my robot arm with moveit following pr2_tutorials: http://docs.ros.org/indigo/api/pr2_moveit_tutorials/html/planning/src/doc/move_group_interface_tutorial.html What i dont ...
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MoveIt Attach Object Error

Here is my node to add an object and attach it to the robot : ...
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Using MoveGroup in different nodes (moveit!)

Hi!, Right now im working with a custom robot and moveit!, and what Im trying to do, is to generate some services nodes, and use them to move my robot using moveit!. The problem is that for ...
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Problem with MoveGroup (Moveit)

I'm following the Moveit tutorials, but I can't create the first variable. I found this link(https://groups.google.com/forum/#!msg/moveit-users/JohDfeDhl6U/ZFfFDsDw7W8J), but I don't understand the ...
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movegroup eigen error when doing pick

ubuntu 14.04 trusty ros indigo as soon as my pick place node reaches pick the movegroup launch terminal gives this error : ...
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