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Found 6 results

  1. 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
  2. Hi all, I am facing an issue trying to use the MoveIt! package to control the Sawyer. I followed all tutorials on how to set up ROS Kinetic, the Sawyer SDK packages and the MoveIt! package. I am know trying to work my way through the MoveIt tutorial. I am able to successfully load the robot inside Rviz, move the end effector in the interface and plan a trajectory. However when I try to execute it, Rviz shows a "failed" message and in the terminal output I can read : Failed to validate trajectory: couldn't receive full current joint state within 1s I also tried to use MoveIt! through the Python interface but when I execute the following : import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg from std_msgs.msg import String moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('move_group_python_interface_tutorial', anonymous=True) robot = moveit_commander.RobotCommander() scene = moveit_commander.PlanningSceneInterface() group = moveit_commander.MoveGroupCommander("right_arm") display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=20) print "============ Reference frame: %s" % group.get_planning_frame() print "============ End effector: %s" % group.get_end_effector_link() print "============ Robot Groups:" print robot.get_group_names() print "============ Printing robot state" print robot.get_current_state() print "============" ... I get something like : ============ Reference frame: /base ============ End effector: right_hand ============ Robot Groups: ['right_arm'] ============ Printing robot state [ WARN] [1526377733.002742750]: Joint values for monitored state are requested but the full state is not known joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base" name: [right_j0, head_pan, right_j1, right_j2, right_j3, right_j4, right_j5, right_j6] position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] velocity: [] effort: [] multi_dof_joint_state: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: "/base" joint_names: [] transforms: [] twist: [] wrench: [] attached_collision_objects: [] is_diff: False ============ This is basically the same problem as in this ROS Q&A question : MoveIt: troubles with joint values Unfortunately this question did not get any useful answer. The weird thing is that the joint state is actually published, when I echo the /robot/joint_states topic I can see the values being updated : header: seq: 600867 stamp: secs: 1526364559 nsecs: 890697828 frame_id: '' name: [head_pan, right_j0, right_j1, right_j2, right_j3, right_j4, right_j5, right_j6, torso_t0] position: [-4.0742021484375, -0.2243544921875, -1.1203125, 0.4582724609375, 2.05134375, -0.29490625, 0.69954296875, -4.114162109375, 0.0] velocity: [-0.001, -0.001, -0.001, -0.001, -0.001, -0.001, -0.001, -0.001, 0.0] effort: [-0.012, 0.052, -20.068, -1.06, -5.996, 0.572, 0.104, -0.284, 0.0] And when I query informations about the /robot/joint_states topic, I can see that both the /realtime_loop and /move_group nodes are publishing/subscribing to it : Type: sensor_msgs/JointState Publishers: * /realtime_loop (http://192.168.212.60:42358/) Subscribers: * /robot_state_publisher (http://192.168.212.60:38760/) * /robot/environment_server (http://192.168.212.60:59368/) * /calibrate_arm (http://192.168.212.60:57953/) * /PositionKinematicsNode_right (http://192.168.212.60:56399/) * /JointMotionPathNode_right (http://192.168.212.60:58612/) * /motion_controller (http://192.168.212.60:37187/) * /sdk_position_w_id_joint_trajectory_action_server_right (http://192.168.212.160:37229/) * /move_group (http://192.168.212.160:43623/) Any idea of what is going on or how I can further investigate the error ? Thanks for your help.
  3. Hello Sawyer Team, I was trying to learn how to use MoveIt. I followed the tutorial of MoveIt and tried to rosrun the joint_trajectory_action_server.py, then open Rviz, but it appeared that the joint_trajectory_action_server couldn't be executed successfully. Few errors were reported, please see the attachments. If I directly open Rviz, then it showed the library is not loaded in. I thought the file has error, so I tried to download some Moveit packages from online resources like Github, but don't know how to apply them and I am not sure they will work or not. This is the main issue I have. Back to the beginning of this tutorial, during I was trying to install MoveIt and run the update code, I also encountered few errors. So I am thinking if they are associated with the problem I had with trajectory file. I skipped them at the beginning. These errors happened when I ran "apt_get update" and "wstool update". Please see the last two attachments. Please post comments if you know what cause these issues and how to fix. Thanks a lot for the help!!! Sincerely, Junchao Li
  4. lr101095

    Rviz Simulation

    Hi there, I'm currently trying to run some Sawyer simulations locally (i.e. running ./intera.sh sim). Is it possible to run Rviz inside the intera simulation? I'm trying to follow the MoveIt tutorial which heavily uses Rviz. I've got roscore running inside intera already. i've completed the MoveIt tutorial up until this point. when trying to run: rosrun intera_interface enable_robot.py -e i receive the following output: [WARN] [1519253835.703072]: RobotEnable: Failed to retrieve robot version from rosparam: /manifest/robot_software/version/HLR_VERSION_STRING Verify robot state and connectivity (i.e. ROS_MASTER_URI) I'm not really sure why this is the case or how to fix it. As i said previously, i am running intera.sh sim. and my IP is set locally. Any help would be appreciated.
  5. lr101095

    Baxter Rviz

    Hi guys, just wanted to ask if anyone has been able to run an rviz for baxter through baxter.sh sim?
  6. lr101095

    Rviz Simulation

    Hi there, I'm currently trying to run some Sawyer simulations locally (i.e. running ./intera.sh sim). Is it possible to run Rviz inside the intera simulation? I'm trying to follow the MoveIt tutorial which heavily uses Rviz. I've got roscore running inside intera already. i've completed the MoveIt tutorial up until this point. when trying to run: rosrun intera_interface enable_robot.py -e i receive the following output: [WARN] [1519253835.703072]: RobotEnable: Failed to retrieve robot version from rosparam: /manifest/robot_software/version/HLR_VERSION_STRING Verify robot state and connectivity (i.e. ROS_MASTER_URI) I'm not really sure why this is the case or how to fix it. As i said previously, i am running intera.sh sim. and my IP is set locally. Any help would be appreciated.