jmeyer1292 / hybrid_planning_experiments Goto Github PK

I see the kinematics parameters, forward kinematics and inverse kinematics are defined for ABB robot. Do I need to change kinematics parameters file, abb2400_ikfast_tests.ccp, abb_irb2400_manipulator_ikfast_solver.cpp for calculating inverse kinematics and forward kinematics for Universal Robot UR5 using this package . Kindly please help me how to apply this package with universal robot UR5.

I compile the code according to the tutorial, and I get the error information as follow:

......
_________________________________________________________________________________________
Errors     << descartes_light:cmake /home/zxy/mp_ws/logs/descartes_light/build.cmake.000.log
CMake Error at /home/zxy/mp_ws/build/opw_kinematics/opw_kinematics-config.cmake:11 (message):
  File or directory /home/zxy/include referenced by variable
  opw_kinematics_INCLUDE_DIRS does not exist !
Call Stack (most recent call first):
  /home/zxy/mp_ws/build/opw_kinematics/opw_kinematics-config.cmake:18 (set_and_check)
  /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  CMakeLists.txt:7 (find_package)
......

Could you provide some solution?

I build the package and ran the program as given in the readme. But I am unable visualize the trajectory on rviz and its execution.Kindly please help me.

I compile the code according to the tutorial, and I get the error information as follow:

Errors << opw_kinematics:cmake /home/jiqi/code/test_git/logs/opw_kinematics/build.cmake.002.log
CMake Error at /opt/ros/melodic/lib/cmake/ros_industrial_cmake_boilerplate/cmake_tools.cmake:210 (install):
install TARGETS given target "DEPENDENCIES" which does not exist in this
directory.
Call Stack (most recent call first):
/opt/ros/melodic/lib/cmake/ros_industrial_cmake_boilerplate/cmake_tools.cmake:283 (install_targets)
CMakeLists.txt:52 (configure_package)

CMake Error: File /home/jiqi/code/test_git/src/opw_kinematics/cmake/opw_kinematics-config.cmake.in does not exist.
CMake Error at /usr/share/cmake-3.10/Modules/CMakePackageConfigHelpers.cmake:312 (configure_file):
configure_file Problem configuring file
Call Stack (most recent call first):
/opt/ros/melodic/lib/cmake/ros_industrial_cmake_boilerplate/cmake_tools.cmake:244 (configure_package_config_file)
/opt/ros/melodic/lib/cmake/ros_industrial_cmake_boilerplate/cmake_tools.cmake:284 (generate_package_config)
CMakeLists.txt:52 (configure_package)

cd /home/jiqi/code/test_git/build/opw_kinematics; catkin build --get-env opw_kinematics | catkin env -si /usr/bin/cmake /home/jiqi/code/test_git/src/opw_kinematics --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/home/jiqi/code/test_git/devel -DCMAKE_BUILD_TYPE=Release; cd -
...............................................................................
Failed << opw_kinematics:cmake [ Exited with code 1 ]
Failed <<< opw_kinematics [ 0.1 seconds ]
Abandoned <<< tesseract_msgs [ Unrelated job failed ]
Abandoned <<< trajopt_ext [ Unrelated job failed ]
Abandoned <<< trajopt_test_support [ Unrelated job failed ]
Abandoned <<< trajopt_utils [ Unrelated job failed ]
Abandoned <<< workcell1_support [ Unrelated job failed ]
Abandoned <<< workcell2_support [ Unrelated job failed ]
Abandoned <<< workcell3_support [ Unrelated job failed ]
Abandoned <<< workcell4_support [ Unrelated job failed ]
Abandoned <<< abb_irb1200_gazebo [ Unrelated job failed ]
Abandoned <<< abb_crb15000_support [ Unrelated job failed ]
Abandoned <<< abb_irb120_support [ Unrelated job failed ]
Abandoned <<< abb_irb2400_support [ Unrelated job failed ]
Abandoned <<< abb_irb2600_support [ Unrelated job failed ]
Abandoned <<< abb_irb4400_support [ Unrelated job failed ]
Abandoned <<< abb_irb4600_support [ Unrelated job failed ]
Abandoned <<< abb_irb52_support [ Unrelated job failed ]
Abandoned <<< abb_irb5400_support [ Unrelated job failed ]
Abandoned <<< abb_irb6700_support [ Unrelated job failed ]
Abandoned <<< abb_irb7600_support [ Unrelated job failed ]
Abandoned <<< abb_irb1200_5_90_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb1200_7_70_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb120_gazebo [ Unrelated job failed ]
Abandoned <<< abb_irb120_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb120t_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb1600_6_12_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb2400_moveit_config [ Unrelated job failed ]
Abandoned <<< abb_irb6640_moveit_config [ Unrelated job failed ]
Abandoned <<< industrial_robot_simulator [ Unrelated job failed ]
Abandoned <<< fcl_ros [ Unrelated job failed ]
Abandoned <<< simple_message [ Unrelated job failed ]
Abandoned <<< industrial_robot_client [ Unrelated job failed ]
Abandoned <<< tesseract_collision [ Unrelated job failed ]
Abandoned <<< tesseract_ros [ Unrelated job failed ]
Abandoned <<< descartes_light [ Unrelated job failed ]
Abandoned <<< tesseract_monitoring [ Unrelated job failed ]
Abandoned <<< tesseract_rviz [ Unrelated job failed ]
Abandoned <<< trajopt_tools [ Unrelated job failed ]
Abandoned <<< trajopt_sco [ Unrelated job failed ]
Abandoned <<< trajopt [ Unrelated job failed ]
Abandoned <<< tesseract_planning [ Unrelated job failed ]
Abandoned <<< trajopt_examples [ Unrelated job failed ]
Abandoned <<< hybrid_planning_common [ Unrelated job failed ]
Abandoned <<< workcell1_demos [ Unrelated job failed ]
Abandoned <<< workcell1_moveit_config [ Unrelated job failed ]
Abandoned <<< workcell2_demos [ Unrelated job failed ]
Abandoned <<< workcell2_moveit_config [ Unrelated job failed ]
Abandoned <<< workcell3_demos [ Unrelated job failed ]
Abandoned <<< workcell3_moveit_config [ Unrelated job failed ]
Abandoned <<< workcell4_demos [ Unrelated job failed ]
Abandoned <<< workcell4_moveit_config [ Unrelated job failed ]
Finished <<< industrial_msgs [ 0.7 seconds ]
Finished <<< libccd_ros [ 0.6 seconds ]
Finished <<< octomap_ros [ 0.6 seconds ]
Finished <<< tesseract_core [ 1.9 seconds ]
[build] Summary: 15 of 66 packages succeeded.
[build] Ignored: 4 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 50 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 3.3 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

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I'm not familiar with ROS，could you provide some solution，thanks!

I'm curious whether the repo is compatible with kinetic
The README.md mentions that

The current code is tested on ROS Melodic

Thing that's slightly confusing is that uses mostly kinetic dependencies

moreover, tesseract seems to target kinetic, same for trajopt_ros?

So that's slightly confusing...

( BTW, amazing presentation at ROSCon '18 💎 )

@Jmeyer1292 what are your thoughts on:

1. Licensing this repository and/or
2. Transitioning this repository to the ROS-I Consortium respository and working towards making this the "core" package of descartes

@Levi-Armstrong and I have several projects that could utilize and build on this functionality but are a little constrained by the current state with regards to license. I would also like to incorporate the segment aware planner work you did into this as well.

I want to constrain fully and achieve a straight line motion. Kindly please let me know how I can fully constrain a straight line path with Cartesian coordinates and Cartesian velocities.

First of all, thank you for the demo! I look forward to experiment with new planner implementations. I'm working on a demo with glue gun robot (not an actual industrial one, just for demo purpose).

I tried building the package in a freshly installed virtual box running Ubuntu 18.04.1 and had some build errors in the abb package.
As it seems, the demos do not use the abb package, so I removed it and build again.
Now everything builds (although it takes a while) and the 3 demos work :)

I forgot to copy-paste the error message, but I can start from scratch and get all the error messages if you want. I suspect it has to do with the dependencie of abb on industrial robot client being not available on melodic.

Note:
I also ran rosdep install --from-paths . --ignore-src before building and had to additionally install ros-melodic-pcl-ros to get trajopt to build without errors.