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Found 17 results

  1. Hello, I am giovanni. I am trying to connect with the Sawyer Robot using ROS. The ROS_HOSTNAME.local of my robot is: 021705CP00067 and my IP is: 158.42.278.72. First, I'm doing "cd ~/ros_ws". Then, "./intera.sh" and this show me the following message: "EXITING - Please edit this file, modifying the 'robot_hostname' variable to reflect your Robot's current hostname." So, to solve that I insert in my console "gedit intera.sh", but after modify it I cannot connect with the robot. This is my "./intera.sh" code: #!/bin/bash # Copyright (c) 2013-2016, Rethink Robotics # All rights reserved. # This file is to be used in the *root* of your Catkin workspace. # This is a convenient script which will set up your ROS environment and # should be executed with every new instance of a shell in which you plan on # working with Intera. # Clear any previously set your_ip/your_hostname unset your_ip unset your_hostname #-----------------------------------------------------------------------------# # USER CONFIGURABLE ROS ENVIRONMENT VARIABLES # #-----------------------------------------------------------------------------# # Note: If ROS_MASTER_URI, ROS_IP, or ROS_HOSTNAME environment variables were # previously set (typically in your .bashrc or .bash_profile), those settings # will be overwritten by any variables set here. # Specify Robot's hostname robot_hostname="021705CP00067.local" # Set *Either* your computers ip address or hostname. Please note if using # your_hostname that this must be resolvable to the Robot. your_ip="158.42.278.72" your_hostname="giovanni.local" # Specify ROS distribution (e.g. indigo, hydro, etc.) ros_version="kinetic" #-----------------------------------------------------------------------------# tf=$(mktemp) trap "rm -f -- '${tf}'" EXIT # If this file specifies an ip address or hostname - unset any previously set # ROS_IP and/or ROS_HOSTNAME. # If this file does not specify an ip address or hostname - use the # previously specified ROS_IP/ROS_HOSTNAME environment variables. if [ -n "${your_ip}" ] || [ -n "${your_hostname}" ]; then unset ROS_IP && unset ROS_HOSTNAME else your_ip="${ROS_IP}" && your_hostname="${ROS_HOSTNAME}" fi # If argument provided, set robot_hostname to argument # If argument is sim or local, set robot_hostname to localhost if [ -n "${1}" ]; then if [[ "${1}" == "sim" ]] || [[ "${1}" == "local" ]]; then robot_hostname="021705CP00067" if [[ -z ${your_ip} || "${your_ip}" == "158.42.278.72" ]] && \ [[ -z ${your_hostname} || "${your_hostname}" == "giovanni.local" ]]; then your_hostname="giovanni" your_ip="" fi else robot_hostname="${1}" fi fi topdir=$(basename $(readlink -f $(dirname ${BASH_SOURCE[0]}))) cat <<-EOF > ${tf} [ -s "\${HOME}"/.bashrc ] && source "\${HOME}"/.bashrc [ -s "\${HOME}"/.bash_profile ] && source "\${HOME}"/.bash_profile # verify this script is moved out of intera_sdk folder if [[ -e "${topdir}/intera_sdk/package.xml" ]]; then echo -ne "EXITING - This script must be moved from the intera_sdk folder \ to the root of your catkin workspace.\n" exit 1 fi # verify ros_version lowercase ros_version="$(tr [A-Z] [a-z] <<< "${ros_version}")" # check for ros installation if [ ! -d "/opt/ros" ] || [ ! "$(ls -A /opt/ros)" ]; then echo "EXITING - No ROS installation found in /opt/ros." echo "Is ROS installed?" exit 1 fi # if set, verify user has modified the robot_hostname if [ -n ${robot_hostname} ] && \ [[ "${robot_hostname}" == "021705CP00067.local" ]]; then echo -ne "EXITING - Please edit this file, modifying the \ 'robot_hostname' variable to reflect your Robot's current hostname.\n" exit 1 fi # if set, verify user has modified their ip address (your_ip) if [ -n ${your_ip} ] && [[ "${your_ip}" == "158.42.278.72" ]]; then echo -ne "EXITING - Please edit this file, modifying the 'your_ip' \ variable to reflect your current IP address.\n" exit 1 fi # if set, verify user has modified their computer hostname (your_hostname) if [ -n ${your_hostname} ] && \ [[ "${your_hostname}" == "giovanni.local" ]]; then echo -ne "EXITING - Please edit this file, modifying the \ 'your_hostname' variable to reflect your current PC hostname.\n" exit 1 fi # verify user does not have both their ip *and* hostname set if [ -n "${your_ip}" ] && [ -n "${your_hostname}" ]; then echo -ne "EXITING - Please edit this file, modifying to specify \ *EITHER* your_ip or your_hostname.\n" exit 1 fi # verify that one of your_ip, your_hostname, ROS_IP, or ROS_HOSTNAME is set if [ -z "${your_ip}" ] && [ -z "${your_hostname}" ]; then echo -ne "EXITING - Please edit this file, modifying to specify \ your_ip or your_hostname.\n" exit 1 fi # verify specified ros version is installed ros_setup="/opt/ros/\${ros_version}" if [ ! -d "\${ros_setup}" ]; then echo -ne "EXITING - Failed to find ROS \${ros_version} installation \ in \${ros_setup}.\n" exit 1 fi # verify the ros setup.sh file exists if [ ! -s "\${ros_setup}"/setup.sh ]; then echo -ne "EXITING - Failed to find the ROS environment script: \ "\${ros_setup}"/setup.sh.\n" exit 1 fi # verify the user is running this script in the root of the catkin # workspace and that the workspace has been compiled. if [ ! -s "devel/setup.bash" ]; then echo -ne "EXITING - \n1) Please verify that this script is being run \ in the root of your catkin workspace.\n2) Please verify that your workspace \ has been built (source /opt/ros/\${ros_version}/setup.sh; catkin_make).\n\ 3) Run this script again upon completion of your workspace build.\n" exit 1 fi [ -n "${your_ip}" ] && export ROS_IP="${your_ip}" [ -n "${your_hostname}" ] && export ROS_HOSTNAME="${your_hostname}" [ -n "${robot_hostname}" ] && \ export ROS_MASTER_URI="http://${robot_hostname}:11311" # source the catkin setup bash script source devel/setup.bash # setup the bash prompt export __ROS_PROMPT=\${__ROS_PROMPT:-0} [ \${__ROS_PROMPT} -eq 0 -a -n "\${PROMPT_COMMAND}" ] && \ export __ORIG_PROMPT_COMMAND=\${PROMPT_COMMAND} __ros_prompt () { if [ -n "\${__ORIG_PROMPT_COMMAND}" ]; then eval \${__ORIG_PROMPT_COMMAND} fi if ! echo \${PS1} | grep '\[intera' &>/dev/null; then export PS1="\[\033[00;33m\][intera - \ \${ROS_MASTER_URI}]\[\033[00m\] \${PS1}" fi } if [ "\${TERM}" != "dumb" ]; then export PROMPT_COMMAND=__ros_prompt __ROS_PROMPT=1 elif ! echo \${PS1} | grep '\[intera' &>/dev/null; then export PS1="[intera - \${ROS_MASTER_URI}] \${PS1}" fi EOF ${SHELL} --rcfile ${tf} rm -f -- "${tf}" trap - EXIT # vim: noet Someone knows what can I do? Thanks for all
  2. Atmaraaj

    Change ROS Master on Sawyer

    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?
  3. saracasao

    Issues with intera examples

    I've been able to connect to robot by IP, also i get rostopic < echo /robot/joint_states> succesfull but when I'm trying to do -> [intera - http://10.0.0.100:11311] civ@civ-VirtualBox:~/ros_ws$ rosrun intera_examples joint_torque_springs.py Initializing node... Getting robot state... Enabling robot... [INFO] [1546511493.727429]: Robot Enabled Running. Ctrl-c to quit the robot no moving, it doesn't do anything. i think that the problem is when robot have to do this --> self._limb.move_to_neutral() or limb.move_to_joint_positions(angles), the robot don't move when i send this comand anyone can help me! please !
  4. jorgegalds_DON

    Sawyer not connecting to ROS

    I followed the steps on networking from the intera website and tried to run the examples. But when I tried to, the message of "unable to communicate with master" always appeared. The intera.sh file has been correctly updated and don't know what other approach to take. Any extra packages that need to be downloaded / steps to take other than the ones described in the website?
  5. Hi, everyone, I have a question and hope to get your help. We have already one Sawyer robotic arm in our lab at present. But required by the tasks, we need to use two robotic arms simultaneously. We want to buy another Sawyer robotic arm to make them work together. My question is whether it is feasible that we use one laptop running the ros platform to control two robotic arms simultaneously. In the tutorial documentation, I only find examples for one robotic arm. But how should two robotic arms be connected to one laptop via the network cable in hardware? And is there an example to setup an environment for the controlling of two Sawyer robotic arms synchronously? Thank you.
  6. jorgegalds_DON

    Intera Library through ROS

    Is there a way to have access to the library of programs, saved in intera, through ROS? These programs are saved in the Sawyer's computer right? So I wanted to know if they can be accessed somehow.
  7. nselby

    Individual Joint Impedance Control

    I want to be able to move the end effector freely along a circle about the base of my Sawyer with my hand. Is there a script similar to set_interaction_options.py or constrained_zeroG.py that will allow me to constrain individual joints?
  8. jorgegalds_DON

    Motion Server Controller

    Hello, I am using the robot today and successfully established a connection. But when I try to run the intera examples non work. For the ones that involved movement I got a message saying that I was not connected to the motion server controller. I'd like to know if there is a way of fixing this issue. I am thinking of a complete OS re-installation as other packages gave me trouble too but would to show test the examples before doing so. Thanks for the advice.
  9. jorgegalds_DON

    Access head display with HTML

    I would like to access the current image of my Sawyer head screen through an HTML file. Basically, to show the display on the web application. Is there an already stated procedure to get access to the head display?
  10. 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.
  11. lr101095

    sawyer inverse kinematics

    trying to write a program that subscribes to the endpoint states of sawyer through rostopics. i've opted to subscribe to each individual endpoint_state value. my program is based around ik_service_client, hence why i decided to subscribe to the individual values. I have the following: sub_p1 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/x", String) sub_p2 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/y", String) sub_p3 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/position/z", String) sub_q1 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/x", String) sub_q2 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/y", String) sub_q3 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/z", String) sub_q0 = rospy.Subscriber("/robot/limb/right/endpoint_state/pose/orientation/w", String) poses = {'right': PoseStamped( header = hdr, pose = Pose( position = Point( x = sub_p1, y = sub_p2, z = sub_p3, ), orientation = Quaternion( x = sub_q1, y = sub_q2, z = sub_q3, w = sub_q0, ), ), ), } However, as a test, i print "poses" and i get the following output: pose: position: x: <rospy.topics.Subscriber object at 0x7fe9f9c31c50> y: <rospy.topics.Subscriber object at 0x7fe9f9c31d50> z: <rospy.topics.Subscriber object at 0x7fe9f9c31d90> orientation: x: <rospy.topics.Subscriber object at 0x7fe9f9bd7050> y: <rospy.topics.Subscriber object at 0x7fe9f9c31e10> z: <rospy.topics.Subscriber object at 0x7fe9f9bd7710> w: <rospy.topics.Subscriber object at 0x7fe9f9bd79d0>} How am i able to print/access the actual data so i have an output of actual numbers that i can then pass on to perform inverse kinematics? I'm not sure if i'm using the correct data type (i.e. String or otherwise) to pass on the values. any corrections, suggestions or solutions would be much appreciated. - Luke
  12. Hi, Is it possible to control cameras (focusing, set exposure time, etc) through the SDK? And how to switch on/off the light source of the hand camera? Only lights of head and cuff can be commanded through the existing example code. Since the force control laws and algorithms are concerned, how can I read force sensor data of each joint? And is there any interface to directly read external force/torques by transformations? Thanks.
  13. I am doing a research which requires accurate coordinate and joint values from Sawyer, and as such I have the following questions to ask about Sawyer's joint accuracy. What are the accuracies of each limb length, joint angle values that are published via ROS and of the kinematic solvers? Is it possible to directly get the poses (coordinates) of any joint of choice? For now, we just calculate these values from the limb lengths and joint values published, thus the first question. Where is the virtual gripper/end-effector point relative to Sawyer's arm? As I understand, the end-effector point is needed to calculate the Inverse Kinematics, but I am unsure where exactly this point is. If it is possible to obtain this end-effector position, how can I tune/calibrate this position when a different gripper is attached? I know that the Intera UI allows some configuration, but is this possible with Intera SDK too? I would gladly explain more about my aims if more explanation is required. Thank you.
  14. ahzahra

    Custom End Effector

    Hello everyone, Was hoping someone could help me with a problem I'm having. I'm attaching a ~2.8 Kg load to Sawyer's end effector via the Clicksmart Plate, and I'm trying to use Moveit! in ROS to move the arm around while the payload is attached. In doing so, however, I encounter the following problems: 1) The arm often stops executing a trajectory early and the joint trajectory action server node gives the following error: Robot arm in Error state. Stopping execution. 2) The arm violates the path tolerances when executing the trajectory 3) The path executed is very very noisy My theory is that the motor controllers are not accounting for the added load on the end effector, which could definitely mess up the trajectory execution. I tried rebooting the robot in Intera Mode, and following the tutorial of setting up a custom end effector, but when I restart the robot in SDK mode, the robot still experiences the same problem . Anyone know how to fix this?
  15. 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 !
  16. Ian McMahon

    Intera SDK 5.1 Release

    Greetings Sawyer SDK Users, We are pleased to announce the release of a new version of the Sawyer Intera SDK software – v5.1.0. SDK 5.1.0 is a release focused on improving the Intera SDK user experience and added further improvements to motion quality. You can find a complete set of SDK-related release notes here. The Intera 5.1 update also allows for any user to reboot between Rethink's Python and ROS-based SDK, and the new Intera 5.1 manufacturing software with behavior trees through the FSM. From this point forward, both Intera Manufacturing and SDK upgrades are installed through the same update files. If your Sawyer robot is currently running SDK 5.0.4, please follow this Software Update tutorial to upgrade your robot to Intera 5.1.0. Running the $ wstool update command from the top of your ROS workspace will pull in the Intera 5.1.0 changes to update your workstation. We have provided examples and code walk throughs for many aspects of the Sawyer's Intera SDK, so that you can get working quickly as soon as you install the SDK. Happy Researching! ~ Ian McMahon
  17. Eash

    Unable to ping to ROS Master

    We are following the installation tutorial and are currently on the "Hello Robot." The problem we are facing is verifying our connection to the ROS Master. In the tutorial, it states that the ROS Master is the serial number on the baxter arm. When we attempt to ping to the ROS Master URI (serial number), we get unknown host. ________________________________________________________________________________________________ I.e. [intera - http://021xxxRPxxxxx.local:11311] user@ubuntu:~/ros_ws$ ping 021xxxRPxxxxx.local ping: unknown host 021xxxRPxxxxx.local _______________________________________________________________________________________________ Also we have successfully pinged to the controller with its serial number/IP address. Are we suppose to ping to the controller with its serial number or the arm itself?