KHLee 0 Posted April 9, 2018 (edited) Hi. I want use the sawyer robot with moveit package, to generate obstacle avoid path. The tutorial works perfectky with or without your electric gripper. But with clicksmart, it cann't generate path. I am using this command(There is no options for clicksmart.) $ roslaunch sawyer_moveit_config sawyer_moveit.launch When launch finished, I can see the clicksmart pad at the right_hand link. But after that I tried to generate plan with random position, it failed with this log. How can I launch the sawyer model with clicksmart to use moveit? Edited April 9, 2018 by KHLee Share this post Link to post Share on other sites
Grant Aylward 28 Posted September 12, 2018 Hello KHLee, I apologize for the delayed response here. We recognize there is an issue here stopping ClickSmart devices to be used in Move-IT. The SDK team is working towards a resolution. I do not have a timeline on its completion. When a resolution is released I will update you here. Thank you, Grant Share this post Link to post Share on other sites
Shiwei Wang 1 Posted October 1, 2018 Hello KHLee, The fix checked in GitHub with a branch name: clicksmart_moveit, once we finalize the feature it will be checked into development/master branch. To get the Clicksmart work in MoveIt, please use ROS Kinetic. Here is the link to the branch: https://github.com/RethinkRobotics/sawyer_moveit/tree/clicksmart_moveit 1, check out the branch pull the changes to your local branch. 2, run the bash script: https://github.com/RethinkRobotics/sawyer_moveit/blob/clicksmart_moveit/sawyer_clicksmart_moveit_launch.sh to enable clicksmart at MoveIt. Do not forget to run 'rosrun intera_interface joint_trajectory_action_server.py' before running the bash script. For the electrical gripper and no gripper, please keep using the command in the tutorial: http://sdk.rethinkrobotics.com/intera/MoveIt_Tutorial Will keep you updated, hope this helps! -Shiwei Share this post Link to post Share on other sites
Andreas Moser 0 Posted June 18, 2021 Hi, I had the same problem and proceeded as you described. But now i have a collison of clicksmart and arm, so that MoveIT can't calculate any path. Do I need to modify the URDF? Which commands (Python) are now used to control the clicksmart? Thank you, Andreas Share this post Link to post Share on other sites