Acwok

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Everything posted by Acwok

  1. Hi Bruce, I am glad it worked . Hope Rethink Robotics will see this post and correct the launch files. Yes the octomap updates very slowly. The only solution I found was to reduce the resolution and the max_range in the .launch and .yaml files. I set the resolution to 10cm, I know it is huge but I can grab objects ^^. I haven't made object detection but you should check out the ROS VISP package. Otherwise, to grab an object you can just use the SDK Limb.close(). I haven't spent time on /MoveGroupPickPlaceAction. Let me know if you find a way of speeding up the octomap update without loosing accuracy. Clément
  2. Hello, I installed MoveIt for Sawyer using the tutorial on your website (http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial). Everything works well, except that the PlanningScene (octomap) isn't displayed. I just modified the default camera transform (in sawyer_moveit.launch) to: <arg name="camera_link_pose" default="1.63370914 0.18878118 0.83806239 -2.458593673374903 0.33172728805592044 -0.0750022861088028"/> Then to launch MoveIt, I just: - rosrun intera_interface joint_trajectory_action_server.py in a SDK terminal session - roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true in another SDK terminal session Here is a capture of Rviz (Nothing is published on the Planning Scene Topic): Here is what I have in the terminal: ~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch electric_gripper:=true kinect:=true ... logging to /home/sawyer/.ros/log/33db5810-3ace-11e7-860e-1866da494b18/roslaunch-sawyer-HP-Compaq-Pro-6300-SFF-20862.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://169.254.5.155:38982/ SUMMARY ======== PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/allowed_execution_duration_scaling: 1.2 * /move_group/allowed_goal_duration_margin: 0.5 * /move_group/camera/camera_nodelet_manager/num_worker_threads: 4 * /move_group/camera/depth_rectify_depth/interpolation: 0 * /move_group/camera/depth_registered_rectify_depth/interpolation: 0 * /move_group/camera/disparity_depth/max_range: 4.0 * /move_group/camera/disparity_depth/min_range: 0.5 * /move_group/camera/disparity_registered_hw/max_range: 4.0 * /move_group/camera/disparity_registered_hw/min_range: 0.5 * /move_group/camera/disparity_registered_sw/max_range: 4.0 * /move_group/camera/disparity_registered_sw/min_range: 0.5 * /move_group/camera/driver/data_skip: 0 * /move_group/camera/driver/debug: False * /move_group/camera/driver/depth_camera_info_url: * /move_group/camera/driver/depth_frame_id: camera_depth_opti... * /move_group/camera/driver/depth_registration: False * /move_group/camera/driver/device_id: #1 * /move_group/camera/driver/diagnostics_max_frequency: 30.0 * /move_group/camera/driver/diagnostics_min_frequency: 30.0 * /move_group/camera/driver/diagnostics_tolerance: 0.05 * /move_group/camera/driver/diagnostics_window_time: 5.0 * /move_group/camera/driver/enable_depth_diagnostics: False * /move_group/camera/driver/enable_ir_diagnostics: False * /move_group/camera/driver/enable_rgb_diagnostics: False * /move_group/camera/driver/rgb_camera_info_url: * /move_group/camera/driver/rgb_frame_id: camera_rgb_optica... * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'default': True... * /move_group/controller_manager_name: simple_controller... * /move_group/head/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/move_group/octomap_frame: camera_link * /move_group/move_group/octomap_resolution: 0.02 * /move_group/move_group/point_subsample: 1 * /move_group/move_group/sensors: [{'max_range': 5.... * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/right_arm/planner_configs: ['SBLkConfigDefau... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/use_controller_manager: True * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/head/kinematics_solver_attempts: 3 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316 * /robot_description_semantic: <?xml version="1.... * /rosdistro: indigo * /rosversion: 1.11.21 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver: kdl_kinematics_pl... * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_attempts: 3 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_search_resolution: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/head/kinematics_solver_timeout: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver: kdl_kinematics_pl... * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_attempts: 10 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_search_resolution: 0.005 * /rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334/right_arm/kinematics_solver_timeout: 0.005 NODES /move_group/camera/ camera_nodelet_manager (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_hw_metric_rect (nodelet/nodelet) depth_registered_metric (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) depth_registered_sw_metric_rect (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) driver (nodelet/nodelet) ir_rectify_ir (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) rgb_debayer (nodelet/nodelet) rgb_rectify_color (nodelet/nodelet) rgb_rectify_mono (nodelet/nodelet) /move_group/ camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) camera_link_broadcaster (tf/static_transform_publisher) / move_group (moveit_ros_move_group/move_group) rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334 (rviz/rviz) ROS_MASTER_URI=http://021611CP00073.local:11311 core service [/rosout] found process[move_group/camera/camera_nodelet_manager-1]: started with pid [20874] process[move_group/camera/driver-2]: started with pid [20875] process[move_group/camera/rgb_debayer-3]: started with pid [20876] process[move_group/camera/rgb_rectify_mono-4]: started with pid [20877] process[move_group/camera/rgb_rectify_color-5]: started with pid [20878] process[move_group/camera/ir_rectify_ir-6]: started with pid [20879] process[move_group/camera/depth_rectify_depth-7]: started with pid [20883] process[move_group/camera/depth_metric_rect-8]: started with pid [20890] process[move_group/camera/depth_metric-9]: started with pid [20891] process[move_group/camera/depth_points-10]: started with pid [20902] process[move_group/camera/register_depth_rgb-11]: started with pid [20906] process[move_group/camera/points_xyzrgb_sw_registered-12]: started with pid [20907] process[move_group/camera/depth_registered_sw_metric_rect-13]: started with pid [20919] process[move_group/camera/depth_registered_rectify_depth-14]: started with pid [20923] process[move_group/camera/points_xyzrgb_hw_registered-15]: started with pid [20926] [ INFO] [1495016462.598547792]: Initializing nodelet with 4 worker threads. process[move_group/camera/depth_registered_hw_metric_rect-16]: started with pid [20927] process[move_group/camera/depth_registered_metric-17]: started with pid [20941] process[move_group/camera/disparity_depth-18]: started with pid [20946] process[move_group/camera/disparity_registered_sw-19]: started with pid [20948] process[move_group/camera/disparity_registered_hw-20]: started with pid [20952] process[move_group/camera_base_link-21]: started with pid [20953] process[move_group/camera_base_link1-22]: started with pid [20965] process[move_group/camera_base_link2-23]: started with pid [20969] process[move_group/camera_base_link3-24]: started with pid [20980] process[move_group/camera_link_broadcaster-25]: started with pid [20984] process[move_group-26]: started with pid [20986] process[rviz_sawyer_HP_Compaq_Pro_6300_SFF_20862_7403073962417655334-27]: started with pid [20993] [ INFO] [1495016462.693509168]: Number devices connected: 1 [ INFO] [1495016462.693602953]: 1. device on bus 000:00 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'A00366907653103A' [ INFO] [1495016462.694673734]: Searching for device with index = 1 (rviz:20993): Gtk-WARNING **: Unable to locate theme engine in module_path: "adwaita", [ INFO] [1495016462.750378327]: rviz version 1.11.15 [ INFO] [1495016462.750424452]: compiled against Qt version 4.8.6 [ INFO] [1495016462.750436423]: compiled against OGRE version 1.8.1 (Byatis) [ INFO] [1495016462.778280205]: Starting a 3s RGB and Depth stream flush. [ INFO] [1495016462.778359537]: Opened 'Xbox NUI Camera' on bus 0:0 with serial number 'A00366907653103A' [ INFO] [1495016462.779418408]: Loading robot model 'sawyer'... [ INFO] [1495016462.859296395]: Stereo is NOT SUPPORTED [ INFO] [1495016462.859370647]: OpenGl version: 3 (GLSL 1.3). [ WARN] [1495016462.895187551]: Could not find any compatible depth output mode for 1. Falling back to default depth output mode 1. [ INFO] [1495016462.938451761]: Loading robot model 'sawyer'... [ INFO] [1495016462.996939730]: Publishing maintained planning scene on 'monitored_planning_scene' [ INFO] [1495016463.005977717]: MoveGroup debug mode is ON Starting context monitors... [ INFO] [1495016463.006036440]: Starting scene monitor [ INFO] [1495016463.016688848]: Listening to '/planning_scene' [ INFO] [1495016463.016734632]: Starting world geometry monitor [ INFO] [1495016463.025046719]: Listening to '/collision_object' using message notifier with target frame '/base ' [ INFO] [1495016463.033351917]: Listening to '/planning_scene_world' for planning scene world geometry [ INFO] [1495016463.062230866]: Listening to '/attached_collision_object' for attached collision objects Context monitors started. [ INFO] [1495016463.110704157]: Initializing OMPL interface using ROS parameters [ INFO] [1495016463.159454318]: Using planning interface 'OMPL' [ INFO] [1495016463.189799983]: Param 'default_workspace_bounds' was not set. Using default value: 10 [ INFO] [1495016463.192609516]: Param 'start_state_max_bounds_error' was set to 0.1 [ INFO] [1495016463.195020096]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1495016463.197465266]: Param 'start_state_max_dt' was not set. Using default value: 0.5 [ INFO] [1495016463.201089427]: Param 'jiggle_fraction' was set to 0.05 [ INFO] [1495016463.203597709]: Param 'max_sampling_attempts' was not set. Using default value: 100 [ INFO] [1495016463.203654817]: Using planning request adapter 'Add Time Parameterization' [ INFO] [1495016463.203682529]: Using planning request adapter 'Fix Workspace Bounds' [ INFO] [1495016463.203711417]: Using planning request adapter 'Fix Start State Bounds' [ INFO] [1495016463.203723132]: Using planning request adapter 'Fix Start State In Collision' [ INFO] [1495016463.203761613]: Using planning request adapter 'Fix Start State Path Constraints' [ WARN] [1495016463.215644770]: Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ WARN] [1495016463.217830741]: Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'. Please, adjust file trajectory_execution.launch.xml! [ INFO] [1495016463.481330910]: Added FollowJointTrajectory controller for /robot/limb/right [ INFO] [1495016463.481450028]: Returned 1 controllers in list [ INFO] [1495016463.516304840]: Trajectory execution is managing controllers Loading 'move_group/ApplyPlanningSceneService'... Loading 'move_group/ClearOctomapService'... Loading 'move_group/MoveGroupCartesianPathService'... Loading 'move_group/MoveGroupExecuteService'... Loading 'move_group/MoveGroupExecuteTrajectoryAction'... Loading 'move_group/MoveGroupGetPlanningSceneService'... Loading 'move_group/MoveGroupKinematicsService'... Loading 'move_group/MoveGroupMoveAction'... Loading 'move_group/MoveGroupPickPlaceAction'... Loading 'move_group/MoveGroupPlanService'... Loading 'move_group/MoveGroupQueryPlannersService'... Loading 'move_group/MoveGroupStateValidationService'... [ INFO] [1495016463.767432287]: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - ClearOctomapService * - CartesianPathService * - ExecuteTrajectoryService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - KinematicsService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1495016463.767507058]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1495016463.767531704]: MoveGroup context initialization complete All is well! Everyone is happy! You can start planning now! [ INFO] [1495016463.848688873]: rgb_frame_id = 'camera_rgb_optical_frame' [ INFO] [1495016463.848798099]: depth_frame_id = 'camera_depth_optical_frame' [ WARN] [1495016463.876687681]: Camera calibration file /home/sawyer/.ros/camera_info/rgb_A00366907653103A.yaml not found. [ WARN] [1495016463.876777590]: Using default parameters for RGB camera calibration. [ WARN] [1495016463.876814517]: Camera calibration file /home/sawyer/.ros/camera_info/depth_A00366907653103A.yaml not found. [ WARN] [1495016463.876862956]: Using default parameters for IR camera calibration. [ INFO] [1495016465.779364068]: Stopping device RGB and Depth stream flush. [ INFO] [1495016466.428636329]: Loading robot model 'sawyer'... [ INFO] [1495016466.532779604]: Loading robot model 'sawyer'... [ INFO] [1495016466.585212741]: Starting scene monitor [ INFO] [1495016466.592453780]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. [ INFO] [1495016467.469390902]: Constructing new MoveGroup connection for group 'right_arm' in namespace '' [ INFO] [1495016468.301998541]: TrajectoryExecution will use old service capability. [ INFO] [1495016468.302066666]: Ready to take MoveGroup commands for group right_arm. [ INFO] [1495016468.302105415]: Looking around: no [ INFO] [1495016468.302133111]: Replanning: no I suspect this line to cause a problem with the self filtering: [ INFO] [1495016467.461837577]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace. Did you ever succeed using a Kinect with Sawyer and MoveIt before ? Could you help me with this problem ? Thanks in advance !
  3. Hi Bruce, I put mine at the beginning of the list to be sure it tries to connect to it first as it cannot connect to the other ones (because no internet). You have done it well You are connected to your robot via ethernet cable, so you certainly have edited intera.sh when installing ROS and Sawyer SDK: http://sdk.rethinkrobotics.com/intera/Workstation_Setup#Configure_Robot_Communication.2FROS_Workspace The tutorial asks to fulfill your_ip="192.168.XXX.XXX" in this ./intera.sh. It is this same address that you should give to Sawyer. In my configuration, this address is static. That's weird... Maybe it is not eth0 if you have multiple ethernet port or a switch. Try ifconfig and look for eth something, there should be the same address as the one you set in intera.sh Clément
  4. Hi Bruce, I have the same configuration. To make the synchronisation of the clocks, you have to follow the following steps: run sudo gedit /etc/ntp.conf on your computer under the “# Use servers from the NTP Pool Project” section, you can specify to use ntp server addresses close to your location. Just add the keyword iburst at the end of each server line to force our computer ntp server to synchronize its current time with these servers as soon as it is launched. You should have something like: server 0.ubuntu.pool.ntp.org iburst server 1.ubuntu.pool.ntp.org iburst server 2.ubuntu.pool.ntp.org iburst server 3.ubuntu.pool.ntp.org iburst under the ”# Use Ubuntu's ntp server as a fallback. ” section, add the following lines: server 127.127.1.0 fudge 127.127.1.0 stratum 8 At the end of the file add the following lines: # Allow LAN machines to synchronize with this ntp server restrict 169.254.0.0 mask 255.255.0.0 nomodify notrap This will allow machines present on the network 169.254.0.0 to get the current time this computer. You have to put your network address (you can find it with ifconfig eth0). The server should now be operational just run sudo /etc/init.d/ntp restart to restart it. The next step is to tell Sawyer to connect to this server to synchronize with the computer's clock. To do this: enter Sawyer's FSM menu. To enter the FSM menu, reboot the robot and only start hitting Ctrl+F when Sawyer face appear. Continue until a menu appears (it is very very long like 1 or 2 min) click on “Configuration” button in the NTP server list, add the static ip of the computer in first position. Note: don't forget to put a comma to separate servers' addresses. Set the current location as needed. click “save” button and reboot Sawyer. Everything should work. Clément
  5. Hi Bruce, I just saw this post. I replied to you on mine this morning http://rethinkrobotics.interaforum.com/topic/106-moveit-octomap-not-displayed-in-rviz-ros-indigo/ (maybe you haven't received a notification mail because you're not the OP). Anyway, I think both issues are related. If you have followed my solution from https://groups.google.com/forum/#!topic/moveit-users/Fz-Hxhjr5zI, the PointCloudOctomapUpdater plugin should work and try to display it on MoveIt!, BUT TO DO THAT I suppose it needs the base to camera_link transform, and that's another problem. I think you just have to synchronise your robot and PC clocks. I explained everything and suggested solutions on the other post this morning, let me know if it helped. Clément
  6. Hello, I would like to have more information about how set_joint_trajectory() (from intera_interface.limb.Limb) works. Here is the documentation I found. https://rethinkrobotics.github.io/intera_sdk_docs/5.0.4/intera_interface/html/index.html I tried to send a trajectory to Sawyer using this method. For each of the 60 points of the trajectory, I run set_joint_trajectory(joint_names, joint_positions, joint_velocities, joint_accelerations). But it seems that the arm did not take into account the velocities and acceleration. The resulting move was very fast, maybe at the maximum speed of the robot. Therefore I have some questions for you: - I don't know how this method works, but regarding this result I think it is non-blocking ? - If it is the case, how should I proceed to run the whole trajectory correctly ? (I need to send point by point) - Is there a topic or something to know if the execution of the current point has finished ? - And finally, if this function use the JTAS (I don't think so from what I read), in which mode should it be running ? Clément
  7. Hi Bruce, Maybe the octomap doesn't display because of this bad transform between camera_link and base. On the link I posted, there was a guy with the same problem as yours. You should check if your robot and PC clock are synchronized. To do that I recommend you to run sawyer_moveit.launch, and in another terminal run: rosrun tf view_frames. This will generate a pdf file (in the folder from which you ran the command) with all the "tree of transforms" known by ROS. If you see for one of them that the "Most recent transform" is really old (like in the picture I attached), it means your robot time is not the same as your PC clock. If they are 0.2sec old or something close to that, it shouldn't be a problem. In the case of a bad clock synchronisation, you have two solutions: 1) connect Sawyer to internet so that it updates its clock automatically pros: quick and easy cons: don't like the idea of letting a robot connected to internet, if you disconnect it from internet the clock will drift with time and problem will come back 2) set a NTP server on your PC and configure Sawyer so that it uses this server to update its time pros: everything is local, sync for life cons: takes 10 minutes to set (I can make a quick tuto here if you want) Clément
  8. I finally found a solution, check here if you are interested: https://groups.google.com/forum/#!topic/moveit-users/Fz-Hxhjr5zI There is a useless "move_group" namespace block in "sawyer_moveit_sensor_manager.launch.xml"
  9. Acwok

    SDK : usage questions

    This is NOT possible. The time information for the whole trajectory is already in the action server. I think the only way to do this would be to make something like a new Joint Trajectory Action Server which would use a ROS parameter (global_speed_ratio) to scale the current point of the trajectory (velocity, acceleration, time) just before "executing" it. For a collaborative robot, this would be a great feature. We would be able to easily slow down the robot during its task if a human operator gets close to it.
  10. Acwok

    SDK : usage questions

    Hello everybody, I was reading your conversation: Indeed, set_joint_position_speed() method modifies the Position Mode speed. Is it possible to do the same with the Inverse Dynamics Feed Forward Position Mode (default Mode) ? To be more precise, I am using MoveIt! to plan and execute trajectories. MoveIt! computes positions, velocities, accelerations and sends them to the JTAS which is running in default mode. Now I would like to reduce or increase the global speed of the robot while the trajectory is being executed. I tried to use the set_joint_position_speed() method without success. Am I missing something ? or is it just not possible to do this ?