Questions tagged [openrave]

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OpenRAVE IKFast scipy error

I'm attempting to use the python app pyikfast to generate an analytic solution to my 6 DOF arm. I was able to successfully run the pyikfast solver on the PUMA 560 arm so I know the solver can work. It ...
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Solving inverse kinematics for special configuration (IKFast)

I'm trying to solve the inverse kinematics problem for a custom made robot arm. The robot arm has a special design with the following 5 DoF in serial configuration: x-axis prismatic joint y-axis ...
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error during generating IK solution

Hi, i am using 5DOF robot and i want to generate IK fast plugin for my robot. I have already generated my robot.dae file. But when I try to get IK solution using this command below ...
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Generating an ikfast solution for 4 DOF arm

Hi, I'm trying to make a 4DOF ikfast plugin. ROS version: Kinetic Ubuntu: Xenial I'm following these instructions: http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution the first problem ...
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Convert SRDF to Collada (dae)

Hi, I have a robot model in myrobot.urdf and myrobot.srdf. Now I want to use the model in OpenRave, so I need to convert the *rdf files to COLLADA files or OpenRave xml format. With collada_urdf I ...
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Generating IK solution for use in MoveIT for 5 DOF arm

I am working on a custom 5 DOF arm(image at the bottom). I have generated the URDF, the MoveIt configs etc for it. I want to have the basic IK, planning and collision detection features of MoveIt. ...
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How to do motion planing with closed loop chain/graph robot structure?

URDF supports only tree structure. SDF support graph structure but it is only for simulation. Moveit supports only URDF so I think I cant use it for motion planing (except if I close it with maths, ...
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moveit: cannot move interactive marker with IKfast

Hello i´ve a problem with ikfast for moveit. i´ve gone trough all tutorials and KDL and Trac_ik are working fine in rviz. However when i´m using the 3DOF IKfast i cant set the goal position with the ...
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Ikfast fails to generate solution file for 3dof arm using .dae(genereated from .wrl)

Hi all I've tried to use ikfast module(iktype=translation3d) for 3DoF simple arm. I have been following the instructions here: http://moveit.ros.org/wiki/Kinematics/IKFast and http://answers.ros.org/...
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Why does my ikfast solver work outisde of MoveIt! but not within?

Hi, I'm steadily making progress with my project to control a 3DOF arm but there is this problem that been annoying me for the last couple of days. I'm trying to make a ikfast plugin for MoveIt! ...
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Generating ikfast plugin for 5 DOF robot

Hi everyone, we are currently working on an ERICC 1 robot (probably >30 years old) and need to update its control systems, etc. Considering that it is a 5 DOF robot, we are having a lot of ...
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openrave fails to generate IK solver

I have been following the instructions here: http://moveit.ros.org/wiki/Kinematics/IKFast for generating an ikfast moveit plugin for a ur5. I had to use a pre-made collada file from here: https://...
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rosmake openrave_planning cannot be completed at all!

I am trying to build the "openrave_planning", so that I can connect both openrave and ros together, but whenever I try to build is, I get this error at 94% of the completion. Here is the ...
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Openrave compatibility with ROS

Hi everybody, I would like to install openrave and make it work together with ROS, but I am unsure of which versions of ROS are compatible. I would like to try Hydro, as it is the latest ROS version. ...
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has anyone successfully used openrave to to IK for robots containing closed loops?

I've got a robot arm with a four bar linkage and am a little unclear on what is the best methodology to represent it. Originally posted by loughnane on ROS Answers with karma: 1 on 2013-07-25 Post ...
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Difficulty using ikfast generator, "need 6 joints error" with Kuka Youbot

Hi, I'm new to ikfast and I'm trying to understand it. I've been following the documentation here: http://moveit.ros.org/wiki/Kinematics/IKFast I'm using a Kuka youbot urdf file which I converted to ...
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D-H table for youbot

I'm trying to do the forward kinematics for a KUKA youbot and am looking for a table of the D-H parameters (so that I can calculate the rotation matrices). Is there a way in Gazebo that will output ...
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Ikfastdemo Does Not Compile

I'm attempting to create a fast inverse kinematics solver using OpenRAVE's ikfast, following the tutorial here: http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution All is well until I ...
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How can I install openrave package for Fuerte?

I'm trying to install the openrave ROS package for Fuerte on Ubuntu 12.04, but I can't find it (nothing looking like ros-fuerte-openrave... in the available packages in the repositories). The wiki ...
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OpenRave IKFast For >6 DOF Redundant Manipulator

I'm working with a robot arm with 7 degrees of freedom, but as I understand it IKFast only solves up to 6 dof. I can set a free joint using the "--freeindex" argument and am able to make the ...
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3 answers
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URDF using mimic joints and conversion to OpenRAVE format

How is the current state of support for the "mimic" tag for joints in URDF files? On electric, it appears that I can set the tags, but they seem to be ignored by the joint state publisher (...
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Installing Openrave Package

I tried to install openrave package for ros-electric on my Ubuntu 10.04. ...
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Dependency [openrave] cannot be found

I installed ros-electric and openrave on my ubuntu 10.04, and I'm trying to create a package "grasp" by the command as follow ...
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openrave_planning and dependencies on Debian Squeeze

Hi all, Though I have ROS Diamondback installed and configured on Ubuntu 10.04, it's become necessary for me to also have an installation on Debian Squeeze. I believe I have the installation working ...
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Problem installing orrosplanning package

Hi, I try to install package orrosplanning in ROS but I get this error message: ...
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Problem with "collada_urdf -> Tutorials -> Working Directly with COLLADA"

Hi, I'm trying to do this tutorial but I don't get the result. No problems appear in console but when rviz start don't show anything, only a black shadow, but in openrave is showing robot correctly. I ...
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librobot_control.so bad plugin info hash

Hello, I installed the openrave_robot_control plugin under ROS Diamondback and I was able to successfully run "rosmake" on the source. Then I loaded the plugin into my OPENRAVE_PLUGINS ...
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OpenRAVE installation fails

Hello, I would like to try OpenRAVE together with ROS (Electric), but there is problem with installation. When "rosdep install openrave_robot_control orrosplanning openrave_sensors" is ...
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object_manipulation vs GraspIt vs OpenRave

This is an open-ended question aimed at grasp planning and object manipulation. Of the object_manipulation pipeline, the libraries provided by GraspIt and the libraries provided by OpenRave, which are ...
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collada_urdf error: No name given for the robot

Hello, I am using the latest Diamondback debs and the latest orrosplanning stack from SVN. I am trying to view a Collada file in RViz using the instructions found here. When I run the command: $ ...
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2 answers
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Looking for Blender robot model example to use with ROS

Hello ROS Fans, Until now I have been using a "box and cylinder" hand edited URDF/Xacro file for my robot (Pi Robot). I would now like to make a mesh-based model that I can then use with ...
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5 answers
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Openrave ikfast as an ik plugin for motion planning

Hi, all, I want to make use of the strength of Openrave to get the analytic solutions for our 5dof manipulator. I know in orrosplanning package, ik_openrave.py provide a service /GetPositionIK. But I ...
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Inverse kinematics solver

Hi, all, I need to select an IK solver for a 5dof manipulator. I took a look at the IK solver in ROS. There seems at least two IK solvers. One is KDL which use extensively in arm_kinematics and ...
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Has anyone used the Cyton Arm With ROS?

Has anybody used the Cyton Arm (http://www.robai.com/) with ros? I'm interested in things such as a URDF description, and anything required to get it working with OpenRAVE. I see that the servos in it ...
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OpenRAVE IK fails to find a solution on Katana 6M90a arm

This is a follow-up question to this one. I can now start the IK service, but it doesn't find a solution. Steps to reproduce: ...
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How to use OpenRAVE's IK with a 5DoF manipulator?

After successfully converting my URDF file to COLLADA, I can start the IK service like this: ...
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How to run ik_openrave.py with my URDF file?

I am trying to run OpenRave's IK service with my URDF file for the Katana 450 6M90A arm, running diamondback. The URDF file can be found in the katana_description package. Here is what I did: ...
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general openrave usage

Hey guys! Im attempting to get an arm up and running with openrave (originally I was going to attempt to do it the ros manipulation pipeline way, which looked a bit like overkill to me). A friend ...
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Gazebo or OpenRave

We're often in the situation with robot prototypes where several teams and/or government groups seem to always need robot access at the very same time. So we're looking at investing some time putting ...
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