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Found 7 results

  1. Ulysse

    Execute Trajectory using MoveIt!

    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.
  2. 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
  3. 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.
  4. lr101095

    Baxter Rviz

    Hi guys, just wanted to ask if anyone has been able to run an rviz for baxter through baxter.sh sim?
  5. 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.
  6. StuweXY

    Programming Sawyer

    Hello everyone, my goal is to be able to program Sawyer with Python. It would be ideal if I could run a simulation of my program first to see if everything is correct. Therefor I familiarized myself with some of the provided example programs and did the MoveIt-Tutorial and also looked a bit further into RVIZ. My problem now is, I checked out the RVIZ tutorial here but the commands have not much to do with the ones used in the examples. So my questions are: Is it better to orient myself on the example programs than on the general ros stuff? And how can I test my program, like sending it into RVIZ? I already wrote a small one for initialisation, copied it to the examples and tried running it, but I got told it wasn't an executable?! Best regards
  7. 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