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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 ...
SconeIsGone'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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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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Moveit2 'planning plugin name is empty' error when creating a new planning pipeline

I am trying to create a ROS2 node to send a goal pose to Moveit2 to initiate planning when working with 6 dof robot arm, xarm6. I am following the tutorial code from moveit2 like here. I am currently ...
kmartbirthdaycake's user avatar
1 vote
1 answer
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Customize SLERP used in MoveIt motion planning

I am currently working on a project utilizing ROS Noetic and MoveIt for robotic arm path planning. I have a robot arm that has to pick up items from between shelves on its left and right side. However,...
Steven Oh's user avatar
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41 views

Can I avoid leaking memory when calling `plan_sequence_path`?

Context: I am planning motions for a six-axis robot arm moving a tool along a toolpath. I am working in ROS1 Noetic, calling Pilz Industrial Motion Planner's PTP planner through MoveIt's ...
rr-mark's user avatar
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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 ...
leandro's user avatar
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2 answers
88 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 ...
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1 vote
1 answer
330 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 ...
cambel's user avatar
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469 views

send goal to action server moveit2

I initiate the demo of the default panda arm in rviz that comes with the tutorials: ros2 launch moveit_resources_panda_moveit_config demo.launch.py and now I want ...
Meik's user avatar
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Moveit planning and collision with scene and objects

I'm new to ROS (noetic) and I'm working with a UR10 and a cell imported in stl and defined in collision in the URDF. For several days now, I've had a problem: when I move the robot in the scene, the ...
Grapilles3119's user avatar
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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 ...
choco_lion's user avatar
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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 ...
Tommaso Pignata's user avatar
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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 ...
Andrea Begni's user avatar
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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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0 answers
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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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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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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 ...
Kirill Partala's user avatar
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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,...
Gerardo Del Cid's user avatar
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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?
Doğukan YILMAZ's user avatar
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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 ...
Dr. No's user avatar
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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 ...
Ammar's user avatar
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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/...
EngineerandDeveloper's user avatar
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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 ...
EngineerandDeveloper's user avatar
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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) ...
caesar753's user avatar
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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 ...
Ankit Kumar's user avatar
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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 ...
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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0 answers
39 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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0 answers
9 views

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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0 answers
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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0 answers
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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0 answers
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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0 answers
20 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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0 answers
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
12 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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0 answers
32 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
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 ...
Darshi Dwivedi's user avatar
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0 answers
26 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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0 answers
20 views

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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0 answers
21 views

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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0 answers
31 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
0 votes
1 answer
160 views

No module named 'moveit_ros_planning_interface'

Environment Information: ROS 2 Distribution: Humble Operating System: Ubuntu 22.04 Python Version: 3.10.12 MoveIt Installation: ...
Darshi Dwivedi's user avatar
0 votes
0 answers
23 views

WebotsController cannot read ros2_controllers generated from Moveit

So, I have been trying to use a modified UR3e robot with Moveit in Webots simulation. The configurations are created by moveit setup assistant. I start from modifying the provided launch files from ...
TonySatoru's user avatar
0 votes
1 answer
49 views

How to work with a custom joint states topic which involves a robot namespace?

I am working with a robotic arm in simulation. I am using ros-noetic, gazebo and moveit for this purpose. I am using /robot_namespace as robot namespace, because of ...
Anubhav Singh's user avatar
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0 answers
109 views

moveit2 not planning: Unable to sample any valid states for goal tree

I am relatively new to ros and moveit. I am working in humble on an m1 mac but using a vm to run ubuntu jammy. I've followed the moveit tutorials and successfully got the panda arm moving to a ...
tuna_pasta's user avatar