Questions tagged [moveit]

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Issue with Real Time Arm Servoing on Franka Emika Panda Robot using MoveIt!

Description: I am a beginner in ROS 1 programming and I am encountering an issue that I hope to resolve with your assistance. I am attempting to implement Real Time Arm Servoing (Link) on my Franka ...
A.Tiwari's user avatar
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Sequence capability for Robotic Arm with OMPL and Move Group Python Interface

I'm using ROS Noetic and specifically MoveIt Move Group Python Interface to perform some movements with a robotic arm for palletizing purposes. In the environment, there are various static obstacles ...
Vasilis Tzikas's user avatar
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ROS Noetic & MoveIt: use pilz_industrial_motion_planner CIRC movement in pyhton script

I'm trying to use pilz_industrial_motion_planner with CIRC as planner_id in order to execute a circular motion given the end point and the mid point of the trajectory. I have set the midpoint as ...
Zebbra43's user avatar
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Collision checking from joint state

I'm trying to check collision from a specific joint configuration. I followed the Planning Scene ROS API tutorial to add a collision box and Planning scene to check for robot collisions. With my code ...
Will's user avatar
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1 answer
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Persistent "Goal State is in Collision" Error Despite Disabling Collisions

I am working with the MoveIt Task Constructor to set up a robotic task sequence and am encountering a persistent collision detection issue despite explicitly disabling collisions for certain links. I ...
Ammar's user avatar
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1 answer
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ROS2 MoveIt!2 "No acceleration limit was defined for joint! You have to define acceleration limits in the URDF or joint_limits.yaml"

Im trying to get a UR3e simulation running with MoveIt2 in RViz and Gazebo. I have the robot generating in RViz and Gazebo, and can move it around in RViz. When i try to plan a trajectory, i get the ...
HES's user avatar
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Moveit! ROS 5 DOF arm cathesian planning [closed]

I am working on simulation a 5 DOF robot arm in moveit!. Planning in joint coordinates works fine, but when I try to move to a custom Pose (in carthesian coodinates / quaternions, it's a reachable ...
choco_lion's user avatar
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move_group pick() function computes weird movements

I'm recently getting into ROS (Melodic, Ubuntu 18.04) and MoveIt!. For my project, I need to grasp an object from the table where the robot (a franka eremika panda) is placed. I wrote a python script ...
NevermoreFilo's user avatar
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10 views

Moveit & custom robot: Controller is taking too long to execute trajectory Error

I just connected my custom robot with rviz & gazebo. Now I am planning trajectories using the rviz Moveit plugin. The robot always moves to the specified pose and then very often I get this error ...
choco_lion's user avatar
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Unable to identify any set of controllers that can actuate the specified joints: []

I use ubuntu 20.04 and ROS noetic. And, I want to connect Moveit with Gazebo simulation and Rviz. The robot model is auboi5 robot arm. I call /aubo_i5/controller_manager/list_controllers and the ...
Ryan Yu's user avatar
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MoveIt 2 Source Build issues

Newly installed OS: Ubuntu 22.04.4 LTS ROS Rolling (https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html) Also installed: sudo apt-get install ros-rolling-ros2-control sudo apt-get ...
Kirill Partala's user avatar
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[moveit_task_constructor_visualization.marker_visualization]: "base_link" passed to lookupTransform argument target_frame does not exist

While running pick and place tutorial of the Moveit2 I got this error: ...
Doğukan YILMAZ's user avatar
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15 views

Can't visualize pre-defined pose in RViz

quite new to ROS. I'm trying to program the trajectory for a 3DoF manipulator using MoveIt! I have been able to visualize it in RViz using MoveIt setup assistant and made sure to setup planning groups,...
Gerardo Del Cid's user avatar
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How to use alternatives container in Moveit2?

I want to have a better idea about using alternatives container. How can I use it with other containers such as MoveTo?
Doğukan YILMAZ's user avatar
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1 answer
40 views

How to combine Moveit2 and Gazebo in Ros-Humble

anyone has an example on how to combine Moveit2 and Gazebo and to make the robot move in Gazebo using the Rviz2 from Moveit2
Kedar's user avatar
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2 answers
51 views

Trouble launching moveit2 configurations

Hi I am using ROS2 humble with moveit2. I created a configuration with setup_assistant of moveit2. However, when I try to launch the demo launch file created by it. It gaves me the error: [ERROR] [...
Doğukan YILMAZ's user avatar
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How to handle drives with a predefined speed profile in MoveIt 2?

Speed limits of the MoveIt 2 packages in ros2 are normally defined in kinematics.yaml. In my case, a body is given which is ...
Dr. No's user avatar
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Moveit dynamic limits on joints

In Moveit, How can I specify additional limits on joints as constraint. For example joint1-joint2 between 20deg to 90 deg. I want Moveit to plan trajectory to respect these limits. These limits is for ...
Ammar's user avatar
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1 answer
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Rviz2 Moveit Error In The Tutorial

I am using Ubuntu 22.04.4 LTS and ROS2 Humble. I am trying to build Moveit for some robotic applications but I could not do Build and Run. https://moveit.picknik.ai/main/doc/tutorials/...
EngineerandDeveloper's user avatar
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1 answer
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Can not build Moveit

I am using Ubuntu 22.04.4 LTS and ROS2 Humble. I am trying to build Moveit for some robotic applications but I could not do colcon build the tutorials. I tried to do the Moveit tutorials. I got some ...
EngineerandDeveloper's user avatar
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Very high position_tolerance with inverse kinematics

I finally managed to make my manipulator work also with Pose Goal using KDL as Inverse Kinematics plugin. The problem is that I cannot in any way go below a certain level of position tolerance (0.12) ...
caesar753's user avatar
1 vote
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Planned trajectory times different from actual robot times

I am using moveit2 Humble and Isaac Sim from Nvidia. I use the MoveGroupInterface to plan a trajectory with 4 waypoints. Each waypoint is planned with a call to <...
birkett's user avatar
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Robotic Arm Singularity Problem using velocity control

currently I am using Cartesian coordinate to move the end effector to a given point following aruco marker. I would like to know will there be any benefits using twist velocities command instead ? I ...
Ankit Kumar's user avatar
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1 answer
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Why do I keep getting this error while trying to launch my robot with moveit2?

I keep getting the following error and I'm unsure what I'm doing wrong, any direction would be much appreciated. I've used moveit setup assistant to get me going initially. The following is my launch ...
Haran Tzori's user avatar
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1 answer
44 views

Problem with /joint_states: "New joint state is not newer than the previous state" warn

i'm using Gazebo and MoveIt with an Arduino Tinkerkit Braccio, when I launch the simulation I get a bunch of this warning messages ...
caesar753's user avatar
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1 answer
31 views

Cannot plan with MoveIt PoseGoal: Unable to sample any valid states for goal tree

I'm using Arduino Tinkerkit Braccio for a project and I cannot get planning to pose goal to work. I'm using KDL as IK solver, RRTConnectkConfigDefault as move_group planner_id This is the relevant ...
caesar753's user avatar
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1 answer
64 views

Planned Path vs Actual Path for Real Robot

I would like to compare/visualize the planned path and actual path of an industrial robot. I am using Moveit2 and I can access planned trajectory via /display_planned_path topic which is moveit_msgs/...
Oben Sustam's user avatar
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1 answer
40 views

MoveIt can't find custom moveit_controller_manager plugin in ROS2 Humble

For a project using ROS2 as a planning back-end for a robot simulation in Unity I am trying to make a custom MoveIt controller-manager and -handle that send trajectories planned by MoveIt to Unity ...
WFInter's user avatar
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34 views

How to calibrate RGBD camera position under ROS2?

I have a RealSense RGBD camera mounted on a robot's end-effector and would like to calibrate the camera's position relative to said end-effector under ROS2. I am using the moveit hand-eye calibration ...
Xilef11's user avatar
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1 answer
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How to give Moveit! local orientation goal to my end effector, but global position?

As the title says, how to give a local orientation to my end effector, but global position? Basically this would mimic the goal orb in RVIZ, where you can drag it around to give global position, but ...
Ezeuz's user avatar
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Blocking call on MoveIts CurrentStateMonitor?

I've created my own move_group_interface due to some complications with the original and the need to expose more functionality of ...
NotARobot's user avatar
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25 views

Gripper normal to surface

I am using Moveit on Franka Ros demo. Is there a way to give a special target to a gripper in Moveit like set the gripper normal to a surface whatever its orientation ? For now what I know when I ...
dev dev's user avatar
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14 views

Using virtual link to plan with MoveIt

I want to plan paths with MoveIt using different planning groups. One of the groups is for a gripper type OnRobot RG6. In order to plan with the gripper I've created a 'virtual' link ergo a link ...
NotARobot's user avatar
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20 views

Unable to sample any valid states for goal tree after change of planning frame

I am trying to move the robotic arm by 1 cm from it's current value using following code , when I use planning frame as top I am getting an error while when I use it as world it plans and execute ...
Ankit Kumar's user avatar
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1 answer
38 views

how to get information about goal of action

I learned to generate trajectories while working with ros2_controller. I want to take a closer look, find the goal in /execute_trajectory/_action/ I can only check ...
ertretff's user avatar
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0 answers
19 views

Seeking Documentation and Installation Steps for pymoveit2

I am currently working on a project that involves using pymoveit2 in a ROS 2 environment, and I'm in need of assistance regarding documentation and installation ...
Darshi Dwivedi's user avatar
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9 views

Bot orienting to same direction regardless of Quaternion value in Moveit

I am trying to control a simulated UR5e bot using ROS. For trajectory planning and execution i am using Moveit. The issue is that when I give a Pose to Moveit, the bot reaches the position (XYZ) just ...
Emaad Ahmed's user avatar
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0 answers
11 views

Moveit! - How do you set goal to one or two axis (not all) so that certain IKFast types can find a solution?

I have a little bit confusion regarding the orientation goal with respect to the IKTypes in IKFast. For example there is a solver for 4DOF arm: TranslationXAxisAngle4D, TranslationYAxisAngle4D, ...
Ezeuz's user avatar
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1 answer
115 views

How to use MoveGroupInterface within a node?

I am a ROS beginner trying to write an interface for a robot arm in c++ that uses moveit2 for inverse kinematics. What I want to do is have a node with a MoveGroupInterface handle that I can use to ...
Preetjot Singh Dhami's user avatar
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31 views

How can I make my "two legged" modular robot to move in Gazebo (it seems "pinned" by a fixed joint and unmovable)?

I am currently working on a "two legs" modular robot (cuboctaedric units with some revolute joints) and I have to make it move in Gazebo. Here is what it looks like : I built this model ...
user38346's user avatar
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1 answer
94 views

moveit source build Issue with rosidl_adapter - AttributeError: module 'em' has no attribute 'Interpreter'

I’m facing an issue while building MoveIt on ROS [HUMBLE] with Python 3.10.12. The error is related to the rosidl_adapter module and seems to involve an attribute error with the em module. Here’s the ...
Darshi Dwivedi's user avatar
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2 answers
101 views

How to use `ros2_control`s `joint_limits`?

I want to control a UR5 using Universal Robots Driver and MoveIt2 using Pilz Industrial Motion Planner (ROS2 Humble). If I plan a path using RViz with e.g. PTP I receive errors which disable ...
NotARobot's user avatar
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0 answers
24 views

How to implement c++ application for checking collision between collision object and object attached to the robot in moveit2?

I am implementing a c++ app for checking collision between collision object and object attached to the robot in moveit2. I can find collision between a robot and a collision object that is not ...
wuisky's user avatar
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Unable to use code to plan the robotic arm, although I have configured moveit and can perform drag planning in rviz

This is my first time asking a question and I don't know what I need to provide to describe the problem as clearly as possible, in simple terms like the title I really don't understand why I can't use ...
liujia yuan's user avatar
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Creating a new planner in OMPL using Python

I am using OMPL in order to create a new planner using OMPL. The documentation gives only a short description of how to do so: ...
Sadiq's user avatar
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1 vote
2 answers
134 views

ROS Planner Trajectory Sampling Rate

When using ROS Noetic (ROS2 answer great though too) with the Pilz industrial planner, I noticed that the plan output trajectory has 100ms between samples. I searched the web (and the source-code) ...
Dan Sandberg's user avatar
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2 answers
38 views

Where can i find the code about move_group_interface.plan method?

I'm studying moveit. A trajectory was created through a method called plan, but I couldn't find the process, so I asked a question. thank you
ertretff's user avatar
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29 views

Terminal closes abruptly during MoveIt 2 source build

I'm encountering an issue while building MoveIt 2 from source following the official documentation. The problem is that the terminal closes automatically before the build process completes. Steps ...
Darshi Dwivedi's user avatar
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0 answers
12 views

Incorrect RVIZ visualization of UR10 robot [duplicate]

There seems to be some issue with visualizing the UR10 robot on RVIZ. Recently I uninstalled ROS and all its dependencies by mistake. Then installed everything back to get it working. However, after ...
Brolin's user avatar
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1 answer
38 views

Is collision checking easier when using primitves vs equivalent stls (moveit)

I am wondering whether collision checking using primitive shapes (defined in the URDF) is faster than using equivalent .STL or .obj geometries. With equivalent i mean creating cylinders, spheres and ...
MIKE PAPADAKIS's user avatar

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