Arunava Nag

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About Arunava Nag

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    ARTC

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  1. Arunava Nag

    C++ MoveIt Demo for Sawyer

    Is there any update on this?
  2. Arunava Nag

    C++ MoveIt Demo for Sawyer

    Some more issues. I tried getting the sawyer joint values using moveit using the sawyer model. I am using planning_context.launch and kinematics.yaml i am thrown this error, it seems it can't find one joint: core service [/rosout] found process[get_joint_value-1]: started with pid [29586] [ INFO] [1505987860.528420052]: Loading robot model 'sawyer'... [ INFO] [1505987860.626946087]: Loading robot model 'sawyer'... [ INFO] [1505987860.630467442]: Model frame: /base [ INFO] [1505987860.630508969]: Joint right_j0: 0.000000 [ INFO] [1505987860.630531864]: Joint right_j1: 0.000000 [ INFO] [1505987860.630545672]: Joint right_j2: 0.000000 [ INFO] [1505987860.630561089]: Joint right_j3: 0.000000 [ INFO] [1505987860.630574145]: Joint right_j4: 0.000000 [ INFO] [1505987860.630591775]: Joint right_j5: 0.000000 [ INFO] [1505987860.630604603]: Joint right_j6: 0.000000 [ INFO] [1505987860.630668234]: Current state is valid [ INFO] [1505987860.630685078]: Current state is valid [ERROR] [1505987860.630718979]: Link 'r_wrist_roll_link' not found in model 'sawyer' [get_joint_value-1] process has died [pid 29586, exit code -11, cmd /home/artc/catkin_ws/devel/lib/sawyer_interface/sw_node __name:=get_joint_value __log:=/home/artc/.ros/log/fe21adee-9eb1-11e7-8bb9-34e6d73f4508/get_joint_value-1.log]. log file: /home/artc/.ros/log/fe21adee-9eb1-11e7-8bb9-34e6d73f4508/get_joint_value-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete
  3. Arunava Nag

    C++ MoveIt Demo for Sawyer

    Some issues with moveit and sawyer. When i use the rviz gui, I can plan and get it to execute anything, it always shows failed. I have followed the tutorial here. I am attaching screen shots. In my terminal where I have launched the sawyer_moveit.launch I get these errors, where the motion libraries fail to make any plans. I don't see any reason for failure. However, if I move the robot manually and then update in my moveit rviz plugin it is able to get the new current state, which means it can communicate properly and also getting the right model. [ INFO] [1505961916.667357671]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ WARN] [1505961916.667939775]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668017335]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668054340]: RRTConnect: Skipping invalid start state (invalid state) [ WARN] [1505961916.668107652]: RRTConnect: Skipping invalid start state (invalid state) [ WARN] [1505961916.668252780]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668335750]: RRTConnect: Motion planning start tree could not be initialized! [ERROR] [1505961916.668482475]: RRTConnect: Motion planning start tree could not be initialized! [ERROR] [1505961916.668549402]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668617261]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000981 seconds [ WARN] [1505961916.668731782]: RRTConnect: Skipping invalid start state (invalid state) [ WARN] [1505961916.668761186]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668789237]: RRTConnect: Motion planning start tree could not be initialized! [ERROR] [1505961916.668858412]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668881027]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.668905397]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.668963676]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.6690155 71]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.669040041]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000321 seconds [ WARN] [1505961916.669129654]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.669153470]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.669213097]: RRTConnect: Skipping invalid start state (invalid state) [ERROR] [1505961916.669275733]: RRTConnect: Motion planning start tree could not be initialized! [ WARN] [1505961916.669304528]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.000186 seconds [ WARN] [1505961916.677427348]: Goal sampling thread never did any work. [ INFO] [1505961916.677537430]: Unable to solve the planning problem [ WARN] [1505961916.689782603]: Fail: ABORTED: No motion plan found. No execution attempted. [ WARN] [1505961922.792857952]: Failed to fetch current robot state.
  4. Arunava Nag

    C++ MoveIt Demo for Sawyer

    Do we have demos in C++ for Sawyer? Especially by using the MoveIt.
  5. Arunava Nag

    Cannot communicate to Sawyer ROS Interface

    Ok thanks. My official mail is in my profile.
  6. Arunava Nag

    Cannot communicate to Sawyer ROS Interface

    Also, Do we have examples for Sawyer in C++ especially with MoveIt?
  7. Arunava Nag

    Cannot communicate to Sawyer ROS Interface

    Hi Don, Thanks for your response. First of all, I have been using the google group for Baxter since 2015 and this forum is quite new to me. I have clicked on the notify me, however, it did not send me any notification of your responses. Sorry for the delay. Please find attached the version I am running. The camera calibration issue is only visible in SDK mode and it's occasional, that is, I don't see it after every bootup. My distributor advised me to run the camera tests from FSM which I did and I got OK for both the results FYI.
  8. Arunava Nag

    Cannot communicate to Sawyer ROS Interface

    Solved connection issue, however what about camera config failing.
  9. Hello, I am having a Sawyer. My system is running ROS Kinetic in Ubuntu 16.04. I tried using the sh script, it ssh s myself inside how ever I cannot communicate with the ROS master. I tried using a virtual machine running ROS Indigo and Ubuntu 14.04. I still couldn't communicate to the ROS master. In all the cases i could ping the system from my workstation. Also in my SDK mode, it throws camera calibration error. I have attached a screenshot of that. Kindly help.