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1 vote
2 answers
86 views

MoveIt orientation constraint causes arbitrary motion

I'm using the MoveIt Python interface. I've noticed that adding an orientation constraint. When I attempt to add a constraint so that the gripper maintains an upright orientation, not only does the ...
1 vote
0 answers
27 views

How to compute quaternion or Roll Pitch Yaw from a directional vector?

I am trying to get a sensor attached to the end of a robot arm to point at a specific Point of Interest. I know the XYZ position of both the POI and the target pose of the sensor, and I am able to ...
0 votes
1 answer
37 views

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. ...
0 votes
0 answers
13 views

Moveit 5 DOF arm inverse kinematics

I'm doing the inverse kinematics for a 5 DOF arm. Using KDL or Trac works now (I didn't get IKfast to work), but only if i first do forward kinematics to find out a reachable pose (with exactley three ...
0 votes
0 answers
5 views

How the consistency_limits vector is poulated in moveIt?

When the kdl_kinematics_plugin IK solver uses the vector : const std::vector& consistency_limits. How is exactly populated? does it contain the lower angle limit and the upper angle limits for ...
0 votes
2 answers
151 views

follow_joint_trajectory action client not connected

Im attempting to setup a simple controller manager through moveit to eventually connect to my robot node (which I haven't written yet). This is a single are 6DOF robot. I have my robots urdf and ...
0 votes
0 answers
11 views

Duplicate two different planning scenes with Moveit

i use ROS-Noetic in ubuntu 20.04 with moveit framework. I would like to duplicate a planning scene with moveit in order to have one planning scene which contains a static planning scene which i ...
0 votes
1 answer
19 views

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 ...
0 votes
2 answers
10 views

SyntaxError: invalid syntax during launching move_it

Hey i'm new in ROS. I've been tried to launch moveit! roslaunch moveit_setup_assistant setup_assistant.launch i'd got these error "SyntaxError: invalid syntax &...
0 votes
0 answers
29 views

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 ...
0 votes
2 answers
72 views

how to save and read / load a trajectory

Hi, I want to capture a trajectory in one run of the program saving it to a file, and try to load the same trajectory the next time. So, actually skipping the ...
0 votes
2 answers
120 views

How to use the planning scene monitor in C++

What is the correct way to create a MoveIt PlanningSceneMonitor in C++ for the default planning scene managed by the move group node? (With the default move group ...
0 votes
0 answers
6 views

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 ...
0 votes
2 answers
31 views

Is it possible to simulate a quadrupedal robot using Moveit? If not what is the best possible way to control the robot through ros?

I am using ROS Kinetic and gazebo 7 for my simulation Originally posted by Hari Prasanth on ROS Answers with karma: 1 on 2018-05-26 Post score: 0
0 votes
2 answers
68 views

How to set the initial position of the robot in Rviz

I am using the UR robot controlled by moveit. The real robot is on a stand and in Rviz the robot shows at the origin. How do I set the position of the robot to a certain coordinate so I can use ...
0 votes
0 answers
2 views

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 ...
0 votes
3 answers
17 views

Planner for Car-Like Robot

Let me begin by saying that I have done my obligatory "google-ing" and I know there has been discussion, but I have not found a satisfactory answer and therefore I am asking here ... I am ...
0 votes
0 answers
25 views

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 ...
0 votes
2 answers
21 views

Cannot connect MoveIt with Gazebo

Hi, I am new to ROS and trying to connect MoveIt with Gazebo simulation for a scara robot. I am facing with this particular error. I have created the urdf file and tuned all the joints accordingly. ...
0 votes
1 answer
24 views

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/...
0 votes
1 answer
21 views

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 ...
0 votes
1 answer
50 views

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 ...
0 votes
2 answers
48 views

Use STOMP as planner in moveit

I'm trying to use STOMP in moveit as the path-planner, instead of using the default planner. I've followed all the steps here: https://github.com/ros-industrial/industrial_training/wiki/Introduction-...
0 votes
0 answers
13 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 ...
0 votes
0 answers
8 views

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 ...
0 votes
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 ...
0 votes
1 answer
53 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 ...
0 votes
1 answer
59 views

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 ...
1 vote
0 answers
13 views

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 ...
0 votes
0 answers
34 views

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 ...
0 votes
1 answer
44 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
0 votes
1 answer
104 views

Moveit2, ROS2: Install moveit_py

Im trying to install moveit_py on Ubuntu 22.04 with ROS2 humble. Installing from source the whole moveit2 is the only way to use those python modules? I tried to build just the moveit_py in my ros2 ...
0 votes
0 answers
16 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,...
0 votes
0 answers
7 views

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?
0 votes
2 answers
38 views

moveit planning collision avoidance

Hello there, I am trying to create a ROS based application in which i use a Joystick to control the robot, then save the robot state and later create plans from those saved positions. However i am ...
0 votes
2 answers
57 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] [...
0 votes
0 answers
11 views

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 ...
0 votes
1 answer
84 views

For my 6-axis robot, goal pose accuracy +/- 0.3 degrees with any OMPL planner. How to reach at least 0.01 degrees or better?

I'm very disappointed about MoveIt planning accuracy and hope you can help me with some useful advices. Some tech. intro: Ubuntu 22.04.3 LTS ROS2 Rolling Gazebo Classic MoveIT2 (installed from source) ...
0 votes
0 answers
12 views

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 ...
0 votes
1 answer
71 views

Unable to debug ros_controllers built from source

I would like to debug joint_trajectory_controller in ros_controllers package while running Gazebo and RViz through a launch file ...
0 votes
0 answers
9 views

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) ...
1 vote
0 answers
15 views

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 <...
0 votes
0 answers
24 views

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 ...
0 votes
1 answer
43 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 ...
0 votes
0 answers
37 views

Moveit constraint to look at a point

Using Moveit under ROS2 (humble), I am trying to have a robot manipulator point the end-effector (technically a camera attached to it) at a point in space. With the different options for constrained ...
0 votes
1 answer
103 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 ...
0 votes
3 answers
108 views

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 ...
1 vote
1 answer
77 views

Kinematic parameters naming

When loading config files for move_group, it expects the kinematics to be loaded as a dict of type ...
1 vote
1 answer
329 views

How to get all ROS log messages from rostest?

I am trying to debug a problem with a rostest that it is probably failing due to multithreading, as the result of the test is always different. That aside, my problem is that I cannot get to see the ...
0 votes
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/...

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