Bruce

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    Rosehulman instituteof technology

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  1. Hi Clement, Thank you so much for the help, now the time on the robot is synced with my PC and octomap does display in Rviz. Your solution on the google forum works great. One last question, somewhat unrelated, the octomap updates very slowly, do you experience the similar behavior? Also the point cloud generated by the Kinect has very poor quality, this might be an issue when doing object detection. Our goal is to identify blocks using the Kinect, send the block locations to the robot and for it to pick them up. Do you have any idea as to how to accomplish that? I noticed that "/MoveGroupPickPlaceAction" is a capability of MoveIt, but haven't found any useful resource on how to use it. Bruce
  2. Hi clement, Thank you for the tutorial. In adding NTP server list to the robot, do I have to put my computer's IP as the first item in the list? I'm quite confused as how to add it to the list. Currently the list has "0.ubuntu.pool.ntp.org, 1.ubuntu.pool.ntp.org, 2.ubuntu.pool.ntp.org, 3.ubuntu.pool.ntp.org, ntp.ubuntu.com", I simply added my computer's local IP to the list "0.ubuntu.pool.ntp.org, 1.ubuntu.pool.ntp.org, 2.ubuntu.pool.ntp.org, 3.ubuntu.pool.ntp.org, ntp.ubuntu.com, 196.254.0.0". However, when I run the launch file again, I'm still getting time offset of around 30 seconds. Also, when looking up local IP using "ifconfig eth0", I realize that eth0 is not configured. I assume that I need to assign static IP first before setting up the NTP server? Bruce
  3. Hi Clement, Thanks for replying. I responded on your post. it looks like it is a clock synchronization issue. However, I'm not familiar with setting up NTP server as suggested in your solution, could you please help me out on that, or maybe point me to the right resources. Bruce
  4. Hi Acwok, Thank you for the response. I looked at the tf tree, and the "Most recent transform" is around -32 sec old. It's not too bad, but I remember reading somewhere that tf only keeps 10 seconds of data, so that might be an issue. And it would be great if you can guide me through the process of setting up NTP server and configuring Sawyer's clock. Just to be clear, currently, the PC is connected to the robot using a Ethernet cable, if that changes anything. Again, thanks for the quick response. Bruce
  5. Hi Acwok, I have the same issue that octomap does not display in Rviz. I also stumbled across the solution you linked. However, it did not solve my problem, when I launch the sawyer_moveit.launch, with Kinect and gripper, I get the following warning: [ WARN ] [1499805321.709597996]: Unable to transform object from frame ‘camera_link’ to planning frame ‘/base’ (Lookup would require extrapolation into the past. Requested time 1499805321.720482463 but the earliest data is at time 1499805348.802233425, when looking up transform from frame [camera_link] to frame [base]) couple other forums on the Baxter Robot Research Community are suggesting that this problem might be related to the time synchronization issue https://groups.google.com/a/rethinkrobotics.com/forum/#!searchin/brr-users/lookup$20would$20require/brr-users/9z3h8etJkp0/Pkn4p-J0t3gJ Just wondering if you had similar warnings in your case. Any other ideas or suggestions as to how to fix this problem will be helpful. Bruce
  6. Hi everyone, My group is working on a human-robot collaboration project. We are trying to use a Microsoft Xbox 360 Kinect with the Sawyer robot. The Kinect is functioning properly and, in fact, when we run roslaunch sawyer_moveit_config sawyer_moveit.launch Kinect:=true electric_gripper:=true, it brings up Rviz and we can visualize the point-cloud generated by the Kinect. However, the octomap does not show up in Rviz. We tried to remove the name space “move_group” in the “sawyer_moveit_sensor_manager.launch.xml” under “moveit_sawyer_config” directory as suggested by this thread: https://groups.google.com/forum/#!topic/moveit-users/Fz-Hxhjr5zI. It didn’t work for us. Next, we looked on the Baxter Research Robot Community forum and found similar, if not identical questions, that were asked back in 2013. The supposed issue is that clock time on the robot computer and time on my development PC are desynchronized. (as suggested by this thread: https://groups.google.com/a/rethinkrobotics.com/forum/#!searchin/brr-users/lookup$20would$20require/brr-users/9z3h8etJkp0/Pkn4p-J0t3gJ). When we run the launch file, we get the warning: [ WARN ] [1499805321.709597996]: Unable to transform object from frame ‘camera_link’ to planning frame ‘/base’ (Lookup would require extrapolation into the past. Requested time 1499805321.720482463 but the earliest data is at time 1499805348.802233425, when looking up transform from frame [camera_link] to frame [base]) Also mentioned in the thread, there was a patch released to fix this issue. However, our softwares are up to date on both the robot computer and our development PC and we are still having this clock desynchronization issue. We are out of ideas as to how to fix this problem. Could anyone please give us some guidance with this issue? Thanks in advance for the help. Bruce