Using Moveit with Clicksmart


KHLee
 Share

Recommended Posts

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

moveit.thumb.png.b6bede103be3307d0cee799cc2861a10.png

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.

5acadaf84efdc_Screenshotfrom2018-04-0912-15-55.thumb.png.90629b4d03a1f717c217c1d3c4ac9a93.png

 

How can I launch the sawyer model with clicksmart to use moveit?

Edited by KHLee
Link to comment
Share on other sites

  • 5 months later...

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 

Link to comment
Share on other sites

  • 3 weeks later...

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 

Link to comment
Share on other sites

  • 2 years later...

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

Link to comment
Share on other sites

Join the conversation

You can post now and register later. If you have an account, sign in now to post with your account.

Guest
Reply to this topic...

×   Pasted as rich text.   Paste as plain text instead

  Only 75 emoji are allowed.

×   Your link has been automatically embedded.   Display as a link instead

×   Your previous content has been restored.   Clear editor

×   You cannot paste images directly. Upload or insert images from URL.

 Share