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- Yesterday
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Xiaoman joined the community
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I am trying to control the Sawyer robot with the help of the Intera MoveIt tutorial. https://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial The problem is with the following command: roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true The first time I ran it everything went fine, I was able to plan and execute movements in rviz. But when I ran the command again today the following error came up and nothing works anymore. [ERROR] [1638439994.358624936]: Link 'right_gripper_tip' declared as part of a chain in group 'right_arm' is not known to the URDF
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Julian S joined the community
- Last week
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Hello, In our lab we have the Baxter two finger gripper attached to a Sawyer. In the past couple of weeks , using the gripper_keyboard.py example in the intera_examples (from the intera_sdk ROS packages, https://github.com/RethinkRobotics/intera_sdk/blob/master/intera_examples/scripts/gripper_keyboard.py ) has been throwing the following error : "Calibration failed.". It is unclear why this has started happening after a couple of years of operation without issue. This is a problem because we then cannot use the gripper (The error happens in any script when instantiating the Gripper class in the intera python api for the first time : https://rethinkrobotics.github.io/intera_sdk_docs/5.1.0/intera_interface/html/index.html ). We noticed that running the gripper_keyboard.py over and over again generally results with it finally working after some time. Moreover, once it works, then it is not a problem again until the robot is rebooted. Any ideas what could be happening or how we could fix this? We are starting to suspect a hardware malfunction. Many thanks
- Earlier
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I've been working through connecting a sawyer arm to ROS kinetic on an Ubuntu 16.04 PC. I've followed through the "workstation setup" and am on "hello robot". The pinging all works and rostopic list prints out as expected, as does the joint state printing function. But when I try running the example python programs no motion at all occurs, what could I be doing wrong? is there a hidden setting in the robot which needs changing to enable motion beyond the enabling already done by the earlier python script. P.S. Also, after I've run ./intera.sh, why does a yellow bracketed section appear in my terminals before the typing prompt? What does this mean, I am somehow logged in to the robot when typing those commands? Thanks
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Hello, I have been trying to connect this gripper to the Sawyer however it doesn't seem to properly work. Basically, if I run the example code $ rosrun intera_examples gripper_cuff_control.py everything works perfectly. However, if I run this simple code: # Sawyer Packages import os import rospy import intera_interface from intera_interface import Gripper # Initialize ROS node, registering it with the Master rospy.init_node('Sawyer_AssistiveGym') # Create an instance of intera_interface's Limb class limb = intera_interface.Limb('right') # Enable the robot in case the emergency button was pressed os.system('rosrun intera_interface enable_robot.py -e') limb.move_to_neutral(timeout=15.0, speed=0.6) # Use Gripper arm = 'right_gripper' _gripper = Gripper('right') then I get the following error: [INFO] [1635963926.594737]: Robot Enabled [WARN] [1635963927.249393]: Specifying gripper by 'side' is deprecated, please use full name (ex: 'right_gripper'). Traceback (most recent call last): File "/home/gabrigoo/assistive-gym/SawyrExp.py", line 17, in <module> _gripper = Gripper('right') File "/home/gabrigoo/ros_ws/src/intera_sdk/intera_interface/src/intera_interface/gripper.py", line 47, in __init__ intera_dataflow.wait_for( File "/home/gabrigoo/ros_ws/src/intera_sdk/intera_interface/src/intera_dataflow/wait_for.py", line 42, in wait_for raise OSError(errno.ETIMEDOUT, timeout_msg) TimeoutError: [Errno 110] Failed to get gripper. No gripper attached on the robot. Why is this happening? Thanks in advance!
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Just purchased a used Sawyer and when powered up I get this message and it seems to be looking for a password? Any ideas?
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Hi there im having some camera configuration issues and need to reset control box is there a manual how to do this?
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I am trying to create a server dashboard using Python that is linked to a number of devices (eg. sensors, conveyor, cameras and other robot brands) using an ethernet port switch, and send/receive data to Sawyer using this Dashboard and have a few questions. This dashboard is in the server PC with the following wired connection: Server PC > Port Switches > Sawyer (and other devices) I have referred to this link below but I would like to get more flexibility to control it (trajectory control etc) so I was looking into the SDK tutorials. https://mfg.rethinkrobotics.com/intera/Using_TCP/IP I have tested the examples for the Sawyer in Oracle VM and made a sample program to run it. It resembles the program seen here: https://sdk.rethinkrobotics.com/intera/Hello_Robot 1. How do I for example, retrieve joint angle (and maybe camera image) and show it in my dashboard? Have anyone done something like this before? Generally, I will have these shown in the dashboard: robot status (eg idle/ready/stopped/error) program name camera image joint angles 2. I plan to have my (currently non-existent) dashboard outside of the VM but in the same PC. How do I establish the communication to the robot from outside the VM? I have tried using the same leading IP address as my WiFi (NAT) but I cannot get a connection without disabling my NAT or PCIE. Individual connections was tested to be working fine so I think my error is about using WiFi and PCIE together. Connections: 1. PC <-> VM (NAT) 2. VM <-> Sawyer (PCIE) by TCP/IP Network: NAT: 192.168.1.3 subnet: 255.255.255.0 PCIE: 192.168.1.105 subnet: 255.255.255.0 Sawyer: 192.168.1.100 subnet: 255.255.255.0 Additional Info: Ubuntu 16.04 + ROS Kinetic Intera 5.3 3. I assume I needed to have a program for server (PC) and client (VM) so I made a sample socket client server program. I did try using packet sender to send data through TCP/IP in Intera and back from Sawyer. Can I do the same with sockets? This is my first time doing this so I appreciate any guidance you guys can provide. Thanks. client_echo.py server_echo.py
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There's a grabcad model of the arm here: https://grabcad.com/library/baxter-arm-1 (Free to register, and a very good site for all sorts of components.) PS: Im glad someone else is here...
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Is there any detailed cad model of the Baxter robot? I want to print out some replacement parts for my Baxter. Thanks
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I get this collision info: but when I add them to the collision list the links are not found.
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Hi, I have a problem with the adjusted clicksmart plate using moveit. i used this repository: https://github.com/RethinkRobotics/sawyer_moveit/tree/clicksmart_moveit I have executed all the commands which are described, but in Rviz l6 is highlighted red and the moveit controller fails everytime. The collition geometry overlapps, so it has to be self-collision. Is there anything else i have to do? Thank you, Andreas
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Sorry for the error: It is ca. less of 1 meter long therefore Sawyer don't know which space are its dead zone.
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Hi, We have some trouble with Sawyer, or exactly with the settings of a custom gripper. I can't find any possibility to set the dimensions of our custom grippers. It is ca. less of 1 meter long therefore Sawyer don't know witch space are its dead zone. ______|--|_________ (Yeah isn't symmetrical...) Where can I do this or how can I do this? Thanks the help!
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Hi, I had the same problem and proceeded as you described. But now i have a collison of clicksmart and arm, so that MoveIT can't calculate any path. Do I need to modify the URDF? Which commands (Python) are now used to control the clicksmart? Thank you, Andreas
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Hi, for a current application, i would like to use an customized pneumatic gripper. I want to do the path planning with moveIt. For this i need the end gripper in the urdf file so it is visible in the RVIZ. i have already tried to load the necessary xacro file with the send_urdf_fragment function. The function did not give an error message, but the gripper was still not inserted Used code: rosrun intera_interface send_urdf_fragment.py -f ~/path/right_end_effector.urdf.xacro -l right_hand -j right_gripper_base Is there anything else I need to watch out for? Thank you very much
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It works now, thank you.
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Undo the modification you have done. Just change the NTP Server in the FSM to your workstation's IP address.
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Hi, i am having problems connection my Sawyer to my local NTP server. When using MoveIt I get the error message that the times of Workstation and Sawyer do not match. Sawyer and workstation are directly connected via Ethernet cable. I followed the instructions from: https://sdk.rethinkrobotics.com/intera/Time_and_NTP#Configuration And i set the NTP Servers in the FSM to 127.127.1.0 Is there anything else I need to configure? Thanks for your help.
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Brendan Ball changed their profile photo
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Hello everyone, Anyone have experience on using TCP/IP with Keysight 3070 system ? Network connection has successfully connected between Sawyer and Keysight 3070 system. Sawyer perform homing done and set signal to Keysight 3070 system Keysight 3070 system received sawyer signal and proceed to ask to perform next step ( open fixture ) However, sawyer did not receive the signal ( check shared data ) from Keysight 3030 system, hence no actions moved. Anyone know why ? Or anyone have good sample between Sawyer and keysight 3070 system to share with me ? thank you in advance
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Hi, We are trying to export the image out of sawyer without using the internet through the SMTP concept. We tried this by creating the SMTP server but we failed. could you please help us with that?
