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robot.get_current_state() does not publish current state when using moveit_commander.RobotCommander()
saracasao replied to Peng Chang's topic in Robot
In my case, when i use joint_states:=/robot/joint_states to remap it's work. -
robot.get_current_state() does not publish current state when using moveit_commander.RobotCommander()
USC_robotics replied to Peng Chang's topic in Robot
Can anybody help? - Earlier
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I would like to have my ROS Master running on a different system. Is it possible to set another system as the ROS Master instead of Sawyer?
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Hello, Your object is recognized (highlighted in green) but look that not all. Two edges are outside of green rectangle. Try to broaden object field, because all edges should be inside of field, green rectangle (during snapshot) cannot cut of any object edge. Also i have few question : 1. If you create surface in snapshot editor you put Landmark on the table or on your object ? 2. Does your object lie on the hard or soft base ? Cheers Lukas
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Hey, thanks again for your response. Unfortunately it's still not working. We pressed "Gehe zu" and set the similarity to 20% and the angles to -180 and 180, but still couldn't press "Verschieben". We tried over and over again, but without success. The problem might be that it says on the screen "Armcamera" instead of "Armcamera is proofing" (or similar). The camera does find the object though and there is the green rectangle around it. Best, Katharina and Max
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Hello Katharina, Max and Lukasz, I´m Steffen Scherf the Head of Application Engineering from Rethink Robotics GmbH Very nice description from Lukasz! If you have any question you can also contact me directly. s.scherf@rethinkrobotics.com
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For all future visitors, I have found the problem: It seems our company workstation have some kind of firewall or other networking settings that block the avahi mDNS service. To confirm my finding I installed vanilla ubuntu on an old workstation we had lying around. With that workstation it worked like a charm. Cheers
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Hello Katharina , This button is available only when your object was recognized by vision system. First press the button GEHE ZU - the robot goes to the position where you were doing the snapshot. If it does not help so.. I suppose that you have to change settings e.g. 1. similarity threshold 2. start angle 3. end angle or try to create snapshot and vision locate from the beginning and remember that you can not move your object during programming. Cheers Lukasz
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Hi Lukasz, Thanks a lot for the nice description! But we have a problem as you can see in the attached picture. We are not able to choose "relocate" if we test the snapshot. Do you have any idea? Thanks in advance! Katharina & Max
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Hi everyone! I'm trying to do motion planning pipeline with moveIt in my Sawyer but there are only tutorials in c++ by MoveIt!, when i run this tutorial i have a error with systaxis (but i'm sure that it's okay). do anyone some code or tutorial about it in python? or do anyone know if i need to do anything to copile code in c++? can anyone help me? thanks a lot!
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Hi! i´m trying to do motion planning pipeline but there only is tutorial in C++, Did you get some demo in c++ ? Thanks!!
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Hi again! I found solution It didn´t work beacuse i need a NTPserver to synchronize every machines. ( I connect every machines throught switch- no internet)
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Hello Katharina , If you know how to create a locator and how to do pick and place it will be simple for you to create Vision Pick. Below you can find a short instruction on how to create it : 1. Create Locator in Snapshot gallery. (Just in case instruction here)- DO NOT MOVE YOUR OBJECT 2. Close all windows/nodes in Intera. 3. Open Vision Locate node and choose your object. 4. Click on the button TEST (in Vision locator node - at the top left corner) 5. If your object is found, it should be highlighted in green and then click RELOCATE. (there should be confirmation - RELOCATED) - DO NOT MOVE YOUR OBJECT 6. Create Pick & Place (most important are : Pick should be children of the Vision Locator node - toggle on the vision locator node, click on this and it should be highlighted in orange, then create Pick & Place) Remember, your object has to be in one place all time after you execute (Point 5 - RELOCATE). Good luck. Please let me know if it is helpful for you. Cheers Lukasz
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Hey guys, I'm need to create a Vision Pick but don't know how, unfortunately I don't have access to the training portal. It's supposed to be a very simple pick and place of an static object that's somewhere on a table. I know how to create a locator in the snapshot galery and also how to pick and place. What's missing is the connection inbetween. How do I tell Sawyer to pick where the object is located? Best regards and thank you, Katharina
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Do you have any code you could possibly share? Especially how you go around calculating velocity and acceleration. I've avoided using the joint trajectory method as I don't have the time to implement it, I've managed so far with just the ik and set_joint_positions and the Motion Waypoint system.
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Will do Lukas, many thanks again.
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Garry, If you need more help, write to Steffen Scherf : s.scherf@hahnrobotics.com , he is Head of Application Engineering from Hahn Robotics. Best Lukas
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Hi Lukas, Thankyou for your help. Followed the instructions, on rebooting after the update the robot is not powering up properly, locked up on attached view of the screen ,none of the controls work and it has not referenced the joins. I have emailed the support as recommended on the instruction sheet. Cheers Garry
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hello Gary, It is very simple to update software. See my attachment, there is a step-by-step instruction on how to perform the update. Best Lukas READ ME FIRST - Intera 5.3 Update Instructions.pdf
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Have tried to do a software update and the robot is locked up .asking for USB key insert , I have never used a USB on it before and cannot get passed this point . It is attached to a laptop. Who is supplying support in the UK?
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Hi, It is a special combination with the "springs" so it is a custom measure system.
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Hi everyone! i am trying to move my robot with MoveIt, but i can´t do. if i try to move my robot with intera_examples, it work perfect. But i would like to move by MoveIt because this tool can help you to do trayectories robot easier. i have followed the tutorial, but when i plan the trayectory and after that execute i have some warnings : -1 warning : No trasform avaible between frame 'reference/right_gripper_r_finger_tip' and planning frame '/base' (could not find a connection between 'base' and 'reference/right_gripper_r_finger' because they are not part of the same tree. Tf has two or more unconnected trees) /// I think this warning no is a problem -2 warning: Interactive marker 'EE_goal_right_gripper_tip' contains unnormalized quaternios -3 warning: Didn´t received robot state (joint angles) with recent timestamp within 1 seconds. check clok synchronization if your are running ROS across multiple machines! failed to fetch current robot states failed to validate trajectory_ couldn`t receive full current joint state within 1s // i think that it is teh problem, but i can fix it, anyone can help me??? or someone have the same problem or can anyone say me how can work with moveit and sawyer??
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I think you have a problem of communicate between Robot and your computer. the first time i try it like you, after that i can get the date like angles, force etc, but when i try to move my robot, it not work. So, i had to correct my communicate and after that it work. (if you can do ping <hostname.local> and your computer, it will have to work)
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What is the model of the force sensor in Sawyer? Or is it custom made?
