Questions tagged [moveit]
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How to resolve singularity in six arm robot
I am using a six joint robotic arm (XArm 6). I would like to know what would be the best possible way to reduce singularities. I read that there are majorly three types of singularity for example
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13
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Create path constraints and dump as a .sqlite file in MoveIt
I am trying to define path constraints in the "MotionPlanning" window on Moveit using RViz in ROS Iron. Using panda_test_db.sqlite, I connected to the database successfully. I could see the ...
- 1,114
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How to construct goals with constraints via MoveIt python binding?
Is it possible to construct a goal with pose constraints via MoveIt python binding?
I have realized this with
...
- 15
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14
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retime_trajectory returns weird velocities and accelerations
OS: Ubuntu Ubuntu 20.04.6 LTS
ROS: Noetic
Robot: Kinova Gen3 6DoF
To conduct reproducible studies I needed a program that executes specific routines always in the same way. Hence, I wrote a program ...
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58
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Moveit set_pose_target() weird motions
I have an ABB IRB 1200 robotic arm that I'm controlling with MoveIt in ROS Noetic.
Using move_group.set_pose_target(pose), I'm getting weird inefficient motions ...
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32
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Which topic does Moveit2 send to robot simulation(rviz, gazebo) to accomplish desired motion execution?
I want to echo the topic responsible for sending Joint_trajectory to the simulation environment (rviz, gazebo). However, I can't read this data. I would like to use this data for sending to the ...
-1
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33
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ROS Openmanipulator-X: it recognized AR marker, but don't move
Our team is following this manual, and we have run into an error when attempting to call the /set_actuator_state and ...
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33
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Trajectory waypoints are not exactly the same as joint positions. How to find the closest waypoint?
I'm trying to implement a function to pause the execution of a trajectory, and then re-plan a trajectory following the remaining path. The framework I'm using is moveit noetic.
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36
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How to simulate in Gazebo Moveit2 planning executing
I'm using ROS2-humble with MoveIt2. I created a MoveIt package, and I'm able to run demo.launch.py. Everything looks like it works there.
I'd now like to be able to run my arm in a Gazebo environment, ...
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How to avoid collision of 2 robot arms in real world (padding between robots)? ROS2/Moveit2
I recently submitted a question regarding how to apply padding to a robot arm in general using ROS2/MoveIt2 and learned that one can define a 'default_robot_padding' parameter within the '...
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35
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Motion planning for non-serial chain robotic arms
I am trying to do position motion planning with inverse kinematics for the MeArm model.
I followed MoveIt tutorials and was able to achieve what I wanted with their provided robot example. However, I ...
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37
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unit of measurement for moveit plan
Hi can someone help me to find out what the unit of measuremnt of the distance variable in this code is? I'm using it to control a ur10:
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- 13
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42
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Moveit failed to find the robot model when using manual moveit configuration
I'm facing an issue on moveit when I try to manually configure the robot model in moveit. I'm getting errors in the robot model when trying to launch moveit launch file in the following sequence below ...
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23
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AttributeError: 'list' object has no attribute 'header'
I'm trying to create a client to send a goal to the move_group server via Python.
Here is my code snippet:
...
- 15
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82
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How to add padding to a robot using ROS2/MoveIt2?
I am trying to find a way to add padding to the robot to avoid unwanted collisions caused by low control precision. Optimally I could either set a uniform padding of e.g. 5 cm or - even better - ...
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moveit_ros_control_interface/Ros2ControlManager crashed when used use_sim_time
My goal is to set the movement to several working groups in Ignition Gazebo.
The movement is successful, but to simulate the gazebo, you need to use use_sim_time, but when using it in the following ...
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33
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Where is the MoveIt python interface installed?
I have built Moveit from source on Ubuntu 20.04 and want to use the python-based move group interface.
I'm not too familiar with the syntax of cmake therefore I don'...
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37
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Theoretical foundation of the moveit_msgs::Constraints constructGoalConstraints function
I'm new to MoveIt and motion planning.
I’m curious about the implementation of constructGoalConstraints function and check its source code
...
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32
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Save robot trajectory as a single figure/image
I would like to show the path planned by moveit2 as a figure in a paper I'm writing. I've seen figures with multiple semi-transparent manipulator arms showing various stages of a certain trajectory, (...
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How to activate the planning with obstacles after publishing the planning scene moveit message
I'm following the tutorial of MoveIt to add obstacles to the scene.
Everything goes well and I can see obstacles in Rviz. However, the planned path seems to ignore the presence of obstacles and go ...
- 15
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29
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MoveIt, no acceleration limit was defined
I created my own robot model in URDF and used the MoveIt Setup Assistant to create the MoveIt configuration and launch file. Planning and executing a motion with Rviz works except when using a ...
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52
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An error occured in MOVEIT: ABORTED: START_STATE_IN_COLLISION
Recently I'm using Baxter Robot for a project. I ran the following ROS command:
roslaunch baxter_moveit_config demo_baxter.launch
and it took me a long time and I ...
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35
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Controllers not found when simulating ur5 arm attached to husky in gazebo
I am trying to simulate a Husky robot with a UR5 Arm attached using this tutorial. I've managed to get the Husky with the UR5 attached in gazebo, but when I plan and execute an instruction to move the ...
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ros noetic rviz motion planning fps drop, high cpu
I have a ros package called "robot_arm_v4" which works fine without rviz but after starting rviz and adding "MotionPlanning" a cpu issue occurs and fps starts to drop.
If I disable ...
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Cannot define robot poses in MoveIt setup assistant
I am using ROS Noetic Ninjemys with Ubuntu 20.04. I made a URDF of an end effector. I tried to configure it with MoveIt setup assistant. However, I am unable to adjust the prismatic joint "...
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27
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The complete state of the robot is not yet known
I'm trying to setup a ur10 robot in Moveit with a conveyor belt next to it. Unfortunately the move_group node as well as the servo node print out the following warning:
The complete state of the robot ...
- 13
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67
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ROS2 MoveIt can't find mimic joint
In ROS2 Humble, I'm attempting to add a rudimentary gripper to a UR arm, simulate in Gazebo (fortress), and control using MoveIt. I'm starting from the official UR URDF and MoveIt config files, and ...
- 268
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beginner question to moveit2
I have an issue with moving my arm, I created a script to move to a goal, and for some reason, some poses are working but some are not, what could possibly the problem?
what I did to test is move the ...
- 15
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How to execute a Moveit Task Constructor Task in Gazebo Classic?
Versions:
Ros2 humble
Moveit2
Gazebo Classic 11
Ubuntu Jammy
Context:
I am working with ROS2 humble, Moveit2, and Gazebo Classic for the simulation of the Panda robot arm. Currently, I am able to use ...
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Moveit! for combining multiple robots
Hello
I am trying to combine two robots using Moveit for combined motion planning. However, I am facing some issues. They could be very minor since I am new to this but would appreciate the help.
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anirudh_chhabra
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How to extract position of the gripper in ROS2/MoveIt2
I created a URDF for my custom robot and gone through MoveIt Setup Assistant successfully generating RVIZ launch files for ROS2/Moveit2 Humble distro.
I can drag the interactive marker and plan/...
fadi eid
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74
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How can I convert Quaternions rotation values into Angular Velocity?
I am currently trying to teleoperate a UR5e robot using a haptic feedback device (3DSystems Touch). I have installed the necessary ROS(noetic) drivers for both devices.
I would like to be able to ...
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How to get joint velocity from Moveit 2 Robot State?
Is it possible to get the velocity of each joint using Moveit 2 Robot State? Is there any better approach?
I tried the following:
...
mth_sousa
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Value expected to be a string, float, or int instead of an empty tuple
I've been trying to export a model from SolidWorks to URDF, I have made the necessary changes, as far as configuring the files. The model shows perfectly fine on MoveIt setup assistant and I generate ...
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robotic arm safety with proximity sensor
Hello
I am working on a robotic arm.
The issue I'm working on right now is security.
My aim is to slow down the speed of the robotic arm if a human enters the environment while the robotic arm is ...
omeranar1
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82
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Problem with Define Robot Poses (in Moveit Setup Assistant)
In this picture, I can use GUI to define any pose of robot. However, I can't drag the slider or enter a number in the box. What is my problem?
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OMPL encountered an error: The longest valid segment for state space arm_JointModel must be positive
This error comes after launch moveit package demo.launch
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202
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How to use Moveit2 in ROS2 Humble with my own custom URDF?
I am trying to use Moveit2 with ROS2 Humble. I followed the documentation provided and I was able to recreate the panda robot configurations from the MoveIt Setup Assistant and launching the generated ...
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2
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72
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The 'stomp' configuration parameter was not found
I am trying to use STOMP Planner by following the documentation. As per the documentation, I installed the STOMP from the source in ROS Melodic (Ubuntu 18.04.6 LTS). Unfortunately, the command ...
- 1,114
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pick and place prevent box flip
Hello
I am trying to make a pick and place application.
My goal is to move 4 boxes from one point to another.
while doing this I saw the boxes turn upside down and the arm carries the boxes with ...
omeranar1
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1
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3
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How to get the position of tf frame
How to get the position of the tf frame (child frame in rviz) , when I use tf.TransformListener().lookupTransform(parent_link, child_link, rospy.Time()) I get the ...
TapleFlib
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How do I convert camera coordinates to world coordinates in Moveit using tf2?
Hey everyone, I would like to convert my object detection pose estimation coordinates to world coordinates so that I can send a pose_target msg to my robotic arm in Moveit. But I do not know what is ...
RowBot
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How can I use object pose estimation to pick up an object in Moveit?
I am working on a robotics project using Ubuntu 18.04 and ROS Melodic, and I am using an Intel RealSense D435 camera to detect objects. I have been trying to use object pose estimation to pick up an ...
RowBot
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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 ...
TapleFlib
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2
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84
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Could not initialize robot simulation interface
I'm relatively new to ROS. I started with raw URDF exported from solidworks. Then created moveit_config package by moveit_setup_assistant. Here are the related files:
URDF file:
...
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What link of realsense D455 should I put inside an existing robot arm urdf file?
I want to add realsense d455 model and its tf to an existing robot arm urdf. What link should I add to my robot arm urdf ?
Originally posted by TapleFlib on ROS Answers with karma: 39 on 2023-04-17
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TapleFlib
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dual arm closed kinematic chain planning in Moveit
I would like to perform a dual-arm robot pick-and-place task, using Moveit to plan trajectories for both arms. e.g. dual arm carrying a large box from a start configuration to target configuration, ...
kango
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16
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Simulated real hardware not updating position ros2, moveit, rviz
Please let me know if there is any additional information you may need.
Hello! I am new here and was hoping to get some help getting started, I have spent two weeks trying to get up and running but am ...
Pelle
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Start state does not change according to current state
Hi, I'm having trouble controlling a real robot with this package.
The robot can connect and move normally, but the problem is that the robot's start state does not change according to the current ...
PRA008
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Waiting for joint_group_position_controller/follow_joint_trajectory to come up
Hi, I am using dobot cr5 with this package and want to control in realtime arm servoing tutorial, but found the following problem
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PRA008