The turtlebot_arm package provides bringup, description, and utilities for using the TurtleBot arm.
License: BSD 3-Clause "New" or "Revised" License
The turtlebot stack provides all the basic drivers for running and using a TurtleBot with ROS.
ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot)
Could you please add a license file to the repository?
This is a a bug I've been sitting on for a while but I've been too lazy to actually make an issue, two packages fail to build on a fresh clone, turtlebot_arm_block_manipulation and turtlebot_arm_ikfast_plugin. The ikfast plugin fails to build because add_definitions(-std=c++11) isn't specified in the CMakeLists, and I haven't had a chance to debug the block manipulation,
The turtlebot kinect to arm calibration package is useful for many different camera robot combinations. It would be nice if this package could be made more generic (i.e. remove turtlebot references and update wiki to describe application of this tool to any robot).
I've checked that all the servos work, when I use dynaManager program.
When I run the arm.launch with phantomx pincher arm and run arbotix_gui, I find that only the gripper could not be controlled, other joints work fine.
Also, when I run turtlebot_arm_moveit.launch, the following error messages show up.
[ WARN] [1505302333.424168285]: The complete state of the robot is not yet known. Missing gripper_joint
The main problem is that I could not control the gripper.
Any help?
I'm (rather surprisingly) still using the turtlebot_arm and I have made quite a lot of improvements in my fork. Most notably:
I didn't bother to PR here cause I assume nobody else is using this repo anymore. But please tell if that's not the case and you are interested on having the latest updates. And please, @mikeferguson, change the default branch to melodic-devel.
Hi
I am using ubuntu 16.04 and ros kinetic
I want to control Phantomx pincher arm by Moveit. I git clone turtlebot_arm but I got the following error during catkin_make
any help plz ????
[ 35%] Generating C++ code from turtlebot_arm_block_manipulation/PickAndPlaceActionResult.msg
[ 35%] Generating Lisp code from turtlebot_arm_block_manipulation/PickAndPlaceFeedback.msg
[ 35%] Built target turtlebot_arm_block_manipulation_generate_messages_lisp
[ 35%] Generating C++ code from turtlebot_arm_block_manipulation/InteractiveBlockManipulationFeedback.msg
[ 35%] Generating C++ code from turtlebot_arm_block_manipulation/PickAndPlaceActionGoal.msg
[ 35%] Generating C++ code from turtlebot_arm_block_manipulation/BlockDetectionFeedback.msg
[ 35%] Generating C++ code from turtlebot_arm_block_manipulation/PickAndPlaceFeedback.msg
[ 35%] Built target turtlebot_arm_block_manipulation_generate_messages_cpp
[ 35%] Linking CXX executable /home/abdulrahman/catkin_ws/devel/lib/turtlebot_arm_kinect_calibration/calibrate_kinect_checkerboard
[ 35%] Built target calibrate_kinect_checkerboard
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
I couldn't use Ikfast to regenerate the plugin for MoveIt Hydro because I have 14.04 and the Ikfast tutorial requires openrave which itself hasn't been upgraded for 14.04. So by now I just patched groovy version to make it compile: it works, but... I would feel happier knowing I can keep updating following changes on MoveIt!
Can keep track of progress on this issue.
Hi,
I built one one white/green turtlebot arm with a longer F4 bracket (about twice of the length of the original one). Except the length of the arm, all other configurations are the same as the original one. Can I still use this package to control my arm? If so, can you guide me on what changes I should make to adapt the changed length? I believe arm description is one, anything else?
Thank you!
I've freshly cloned & built the turtlebot_arm & the arbotix repository (I had to remove the object_manipulation folder to get my build done, but I don't use it anyway). My physical Pincher Arm is connected to /dev/ttyUSB0. In order to move it around with MoveIt & Rviz, I had to change in the turtlebot_arm_moveit_config/demo.launch file the simulation arg for the arm bringup launch file to false as shown here:
<include file="$(find turtlebot_arm_bringup)/launch/arm.launch"> <arg name="simulation" value="false"/> </include>
When I now start the MoveIt demo with roslaunch turtlebot_arm_moveit_config demo.launch I can plan & execute and the pincher arm moves to the goal. But if I change the Planning Group in Rviz to "gripper" instead of "arm" (under "Planning Request" in Rviz), I can still plan & execute, the gripper moves in Rviz and the logging says the Gripper Controller succeeded. But my real robot gripper doesn't move a bit, even with various different positions.
Every second I also get a log like this:
[ WARN] [1524497161.302061425]: The complete state of the robot is not yet known. Missing gripper_joint
I suspect my error has something to do with this. Also in Rviz, only one of the two gripper parts can be moved, while on the real pincher robot arm, it is a parallel gripper where both parts move symmetrically.
Edit:
Right after opening this issue I found a solution to the first part: I had to use this arbotix_ros repository instead of the one mentioned above, then my gripper could move! Even though the logging tells a different story:
[ INFO] [1524498261.159729581]: Planning adapters have added states at index positions: [ 0 ]
[ INFO] [1524498266.793112394]: Execution request received for ExecuteTrajectory action.
[INFO] [1524498266.841353]: Gripper controller action goal recieved:0.014877 m
[INFO] [1524498266.841908]: Gripper publish servo goal: -1.4771 rad
[ERROR] [1524498267.674998461]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 0.841428 seconds). Stopping trajectory.
[ INFO] [1524498267.675095360]: Cancelling execution for gripper_controller
[WARN] [1524498267.677588]: Gripper Controller: Preempted.
[ INFO] [1524498267.741294827]: Execution completed: TIMED_OUT
[ INFO] [1524498267.771785352]: ABORTED: Timeout reached
This doesn't always happen though.
But the gripper in Rviz of course still isn't symmetrical, so any suggestions on how to fix this difference between simulation & real world is still welcome.
Can someone help me with this? Thank you!
Cheers
i write a new method in interactive_manipulation_action_server.cpp, i get a error "to transition to a succeeded state,the goal must be in a preempting or active state,it is currently in state:3" #
Hi,
I am using ros indigo, I tried many attempts to solve this issue but I still get same error. I already tried this link
but same error still there.
[ 98%] Building CXX object turtlebot_arm/turtlebot_arm_block_manipulation/CMakeFiles/pick_and_place_action_server.dir/src/pick_and_place_action_server.cpp.o
[100%] [100%] Building CXX object turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_interactive_manip_action_server.dir/src/interactive_manipulation_action_server.cpp.o
Building CXX object turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_detection_action_server.dir/src/object_detection_action_server.cpp.o
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_block_manipulation/src/pick_and_place_action_server.cpp:37:62: fatal error: moveit/move_group_interface/move_group_interface.h: No such file or directory
#include <moveit/move_group_interface/move_group_interface.h>
^
compilation terminated.
Linking CXX shared library /home/imr/catkin_ws/devel/lib/libturtlebot_arm_moveit_ikfast_kinematics_plugin.so
[100%] Built target turtlebot_arm_moveit_ikfast_kinematics_plugin
Scanning dependencies of target object_manipulation_test_actions
[100%] Building CXX object turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_manipulation_test_actions.dir/test/object_manipulation_actions.cpp.o
In file included from /opt/ros/indigo/include/ros/ros.h:40:0,
from /home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/interactive_manipulation_action_server.cpp:32:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/interactive_manipulation_action_server.cpp: In member function ‘bool turtlebot_arm_object_manipulation::InteractiveManipulationServer::addMarker(const CollisionObject&, bool)’:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/interactive_manipulation_action_server.cpp:227:35: error: ‘pose2str3D’ is not a member of ‘mtk’
marker.name.c_str(), mtk::pose2str3D(marker.pose).c_str(), marker.scale);
^
In file included from /opt/ros/indigo/include/ros/ros.h:40:0,
from /home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:35:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp: In member function ‘void turtlebot_arm_object_manipulation::ObjectDetectionServer::goalCB()’:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:218:23: error: ‘pose2str3D’ is not a member of ‘mtk’
mtk::pose2str3D(obj.pose.pose.pose).c_str(), bin.id, mtk::pose2str3D(bin.getCentroid()).c_str(),
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:218:76: error: ‘pose2str3D’ is not a member of ‘mtk’
mtk::pose2str3D(obj.pose.pose.pose).c_str(), bin.id, mtk::pose2str3D(bin.getCentroid()).c_str(),
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:229:65: error: ‘pose2str3D’ is not a member of ‘mtk’
ROS_DEBUG("Object with pose [%s] added to a new bin", mtk::pose2str3D(obj.pose.pose.pose).c_str());
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp: In member function ‘void turtlebot_arm_object_manipulation::ObjectDetectionServer::tableCb(const TableArray&)’:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:315:16: error: ‘pose2str3D’ is not a member of ‘mtk’
mtk::pose2str3D(table_pose).c_str(),
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp: In member function ‘int turtlebot_arm_object_manipulation::ObjectDetectionServer::addObjects(const std::vector<turtlebot_arm_object_manipulation::ObjectDetectionServer::DetectionBin>&)’:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:337:28: error: ‘pose2str3D’ is not a member of ‘mtk’
bin.id, mtk::pose2str3D(bin.getCentroid()).c_str(), bin.countObjects(), CALLS_TO_ORK_TABLETOP);
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:351:28: error: ‘pose2str3D’ is not a member of ‘mtk’
bin.id, mtk::pose2str3D(bin.getCentroid()).c_str(), bin.countObjects(), obj_name.c_str());
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:356:36: error: ‘point2str3D’ is not a member of ‘mtk’
obj_name.c_str(), mtk::point2str3D(out_pose.position).c_str());
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:400:88: error: no matching function for call to ‘moveit::planning_interface::PlanningSceneInterface::addCollisionObjects(std::vector<moveit_msgs::CollisionObject_<std::allocator<void> > >&, moveit_msgs::PlanningScene_<std::allocator<void> >::_object_colors_type&)’
planning_scene_interface_.addCollisionObjects(collision_objects, ps.object_colors);
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:400:88: note: candidate is:
In file included from /home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:57:0:
/opt/ros/indigo/include/moveit/planning_scene_interface/planning_scene_interface.h:122:8: note: void moveit::planning_interface::PlanningSceneInterface::addCollisionObjects(const std::vector<moveit_msgs::CollisionObject_<std::allocator<void> > >&) const
void addCollisionObjects(const std::vector<moveit_msgs::CollisionObject>& collision_objects) const;
^
/opt/ros/indigo/include/moveit/planning_scene_interface/planning_scene_interface.h:122:8: note: candidate expects 1 argument, 2 provided
In file included from /opt/ros/indigo/include/ros/ros.h:40:0,
from /home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:35:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp: In member function ‘void turtlebot_arm_object_manipulation::ObjectDetectionServer::addTable(const std::vector<geometry_msgs::Pose_<std::allocator<void> > >&, const std::vector<turtlebot_arm_object_manipulation::ObjectDetectionServer::TableDescriptor>&)’:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:466:14: error: ‘point2str3D’ is not a member of ‘mtk’
mtk::point2str3D(co.primitive_poses[0].position).c_str(), table_poses.size());
^
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp: In member function ‘void turtlebot_arm_object_manipulation::ObjectDetectionServer::DetectionBin::addObject(object_recognition_msgs::RecognizedObject)’:
/home/imr/catkin_ws/src/turtlebot_arm/turtlebot_arm_object_manipulation/src/object_detection_action_server.cpp:632:37: error: ‘yaw’ is not a member of ‘mtk’
yaw_acc += mtk::yaw(obj.pose.pose.pose) * obj.confidence;
^
make[2]: *** [turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_interactive_manip_action_server.dir/src/interactive_manipulation_action_server.cpp.o] Error 1
make[1]: *** [turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_interactive_manip_action_server.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_detection_action_server.dir/src/object_detection_action_server.cpp.o] Error 1
make[1]: *** [turtlebot_arm/turtlebot_arm_object_manipulation/CMakeFiles/object_detection_action_server.dir/all] Error 2
make[2]: *** [turtlebot_arm/turtlebot_arm_block_manipulation/CMakeFiles/pick_and_place_action_server.dir/src/pick_and_place_action_server.cpp.o] Error 1
make[1]: *** [turtlebot_arm/turtlebot_arm_block_manipulation/CMakeFiles/pick_and_place_action_server.dir/all] Error 2
Linking CXX executable /home/imr/catkin_ws/devel/lib/turtlebot_arm_object_manipulation/object_manipulation_test_actions
[100%] Built target object_manipulation_test_actions
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
I run arbotix_terminal and I detect my five servos
Then, I run roslaunch turtlebot_arm_bringup arm.launch until I see [INFO] [1506951666.556013]: ArbotiX connected
But when I run roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch I get the following error, Please tell me how to control the arm ?? by rviz or moveit ???
abdulrahman@abdulrahman-ThinkPad-X230-Tablet:~$ roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch
... logging to /home/abdulrahman/.ros/log/aa1bb15c-a77d-11e7-a80b-e09d31097f54/roslaunch-abdulrahman-ThinkPad-X230-Tablet-3150.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://abdulrahman-ThinkPad-X230-Tablet:35791/
SUMMARY
========
PARAMETERS
* /joint_state_publisher/use_gui: False
* /move_group/allow_trajectory_execution: True
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/controller_list: [{'joints': ['arm...
* /move_group/gripper/planner_configs: ['SBLkConfigDefau...
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_fake_contr...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
* /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
* /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
* /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
* /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
* /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
* /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
* /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
* /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
* /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
* /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
* /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
* /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
* /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
* /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
* /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
* /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
* /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
* /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
* /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
* /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
* /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
* /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
* /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
* /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
* /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/range: 0.0
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
* /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
* /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
* /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
* /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
* /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
* /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
* /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
* /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
* /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
* /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
* /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
* /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
* /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
* /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
* /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
* /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
* /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
* /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
* /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
* /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
* /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
* /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
* /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
* /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /robot_description: <?xml version="1....
* /robot_description_kinematics/arm/kinematics_solver: turtlebot_arm_arm...
* /robot_description_kinematics/arm/kinematics_solver_attempts: 3
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/arm_elbow_flex_joint/max_velocity: 1.571
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/arm_shoulder_lift_joint/max_velocity: 1.571
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/arm_shoulder_pan_joint/max_velocity: 1.571
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/arm_wrist_flex_joint/max_velocity: 1.571
* /robot_description_planning/joint_limits/gripper_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/gripper_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/gripper_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/gripper_joint/max_velocity: 0.785
* /robot_description_planning/joint_limits/gripper_link_joint/has_acceleration_limits: False
* /robot_description_planning/joint_limits/gripper_link_joint/has_velocity_limits: True
* /robot_description_planning/joint_limits/gripper_link_joint/max_acceleration: 0
* /robot_description_planning/joint_limits/gripper_link_joint/max_velocity: 1
* /robot_description_semantic: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver: turtlebot_arm_arm...
* /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver_attempts: 3
* /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver_search_resolution: 0.005
* /rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151/arm/kinematics_solver_timeout: 0.005
* /source_list: ['/move_group/fak...
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151 (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[joint_state_publisher-1]: started with pid [3172]
process[robot_state_publisher-2]: started with pid [3173]
process[move_group-3]: started with pid [3174]
process[rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4]: started with pid [3182]
[ INFO] [1506954415.663253112]: Loading robot model 'turtlebot_arm'...
[ INFO] [1506954415.663592667]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1506954415.730456015]: rviz version 1.12.10
[ INFO] [1506954415.730502900]: compiled against Qt version 5.5.1
[ INFO] [1506954415.730521112]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1506954415.764070772]: arm_shoulder_pan_joint -2.617 2.617 1
[ INFO] [1506954415.764167415]: arm_shoulder_lift_joint -2.617 2.617 1
[ INFO] [1506954415.764219931]: arm_elbow_flex_joint -2.617 2.617 1
[ INFO] [1506954415.764269923]: arm_wrist_flex_joint -1.745 1.745 1
[ INFO] [1506954415.764319877]: gripper_link_joint -3.14 3.14 1
[ INFO] [1506954415.793705372]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1506954415.799552869]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1506954415.799644522]: Starting scene monitor
[ INFO] [1506954415.804215477]: Listening to '/planning_scene'
[ INFO] [1506954415.804295494]: Starting world geometry monitor
[ INFO] [1506954415.808632699]: Listening to '/collision_object' using message notifier with target frame '/base_link '
[ INFO] [1506954415.813097515]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1506954415.844158248]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1506954415.908991778]: Initializing OMPL interface using ROS parameters
[ INFO] [1506954415.950697547]: Using planning interface 'OMPL'
[ INFO] [1506954415.992013862]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1506954415.993102403]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1506954415.994040546]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1506954415.994944155]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1506954415.995921021]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1506954415.996493366]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1506954415.996555243]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1506954415.996582120]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1506954415.996607920]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1506954415.996629761]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1506954415.996653164]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1506954416.035660329]: Fake controller 'fake_arm_controller' with joints [ arm_shoulder_pan_joint arm_shoulder_lift_joint arm_elbow_flex_joint arm_wrist_flex_joint gripper_link_joint ]
[ INFO] [1506954416.036256393]: Fake controller 'fake_gripper_controller' with joints [ gripper_joint ]
[ INFO] [1506954416.036725996]: Returned 2 controllers in list
[ INFO] [1506954416.049330671]: Trajectory execution is managing controllers
[ INFO] [1506954416.073566553]: Stereo is NOT SUPPORTED
[ INFO] [1506954416.073662947]: OpenGl version: 3 (GLSL 1.3).
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1506954416.216453893]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1506954416.216574010]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1506954416.216614559]: MoveGroup context initialization complete
You can start planning now!
terminate called after throwing an instance of 'Ogre::Exception'
what(): OGRE EXCEPTION(5:): Could not find font Liberation Sans in MovableText::setFontName
[rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4] process has died [pid 3182, exit code -6, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/abdulrahman/catkin_ws/src/turtlebot_arm/turtlebot_arm_moveit_config/launch/moveit.rviz __name:=rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151 __log:=/home/abdulrahman/.ros/log/aa1bb15c-a77d-11e7-a80b-e09d31097f54/rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4.log].
log file: /home/abdulrahman/.ros/log/aa1bb15c-a77d-11e7-a80b-e09d31097f54/rviz_abdulrahman_ThinkPad_X230_Tablet_3150_8056263447110076151-4*.log
I've got following error from catkin_make.
How do I solve this?
[100%] Building CXX object turtlebot_arm/turtlebot_block_manipulation/CMakeFiles/block_detection_action_server.dir/src/block_detection_action_server.cpp.o
In file included from /opt/ros/groovy/include/class_loader/class_loader_core.h:39:0,
from /opt/ros/groovy/include/class_loader/class_loader_register_macro.h:33,
from /opt/ros/groovy/include/class_loader/class_loader.h:39,
from /opt/ros/groovy/include/pluginlib/class_list_macros.h:40,
from /home/hyon/catkin_ws/src/turtlebot_arm/turtlebot_arm_ikfast_plugin/src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp:830:
/opt/ros/groovy/include/class_loader/meta_object.h: In member function ‘B* class_loader::class_loader_private::MetaObject<C, B>::create() const [with C = ikfast_kinematics_plugin::IKFastKinematicsPlugin, B = kinematics::KinematicsBase]’:
/home/hyon/catkin_ws/src/turtlebot_arm/turtlebot_arm_ikfast_plugin/src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp:831:101: instantiated from here
/opt/ros/groovy/include/class_loader/meta_object.h:193:17: error: cannot allocate an object of abstract type ‘ikfast_kinematics_plugin::IKFastKinematicsPlugin’
/home/hyon/catkin_ws/src/turtlebot_arm/turtlebot_arm_ikfast_plugin/src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp:64:7: note: because the following virtual functions are pure within ‘ikfast_kinematics_plugin::IKFastKinematicsPlugin’:
/opt/ros/groovy/include/moveit/kinematics_base/kinematics_base.h:90:16: note: virtual bool kinematics::KinematicsBase::getPositionIK(const Pose&, const std::vector&, std::vector&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const
/opt/ros/groovy/include/moveit/kinematics_base/kinematics_base.h:108:16: note: virtual bool kinematics::KinematicsBase::searchPositionIK(const Pose&, const std::vector&, double, std::vector&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const
/opt/ros/groovy/include/moveit/kinematics_base/kinematics_base.h:128:16: note: virtual bool kinematics::KinematicsBase::searchPositionIK(const Pose&, const std::vector&, double, const std::vector&, std::vector&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const
/opt/ros/groovy/include/moveit/kinematics_base/kinematics_base.h:150:16: note: virtual bool kinematics::KinematicsBase::searchPositionIK(const Pose&, const std::vector&, double, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const
/opt/ros/groovy/include/moveit/kinematics_base/kinematics_base.h:173:16: note: virtual bool kinematics::KinematicsBase::searchPositionIK(const Pose&, const std::vector&, double, const std::vector&, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const
make[2]: *** [turtlebot_arm/turtlebot_arm_ikfast_plugin/CMakeFiles/turtlebot_arm_moveit_ikfast_kinematics_plugin.dir/src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp.o] Error 1
make[1]: *** [turtlebot_arm/turtlebot_arm_ikfast_plugin/CMakeFiles/turtlebot_arm_moveit_ikfast_kinematics_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX executable /home/hyon/catkin_ws/devel/lib/turtlebot_block_manipulation/block_detection_action_server
Linking CXX executable /home/hyon/catkin_ws/devel/lib/turtlebot_kinect_arm_calibration/calibrate_kinect_checkerboard
[100%] [100%] Built target block_detection_action_server
Built target calibrate_kinect_checkerboard
make: *** [all] Error 2
Invoking "make" failed
hyon@hyon-gt683:/catkin_ws$ sudo apt-get install ros-groovy-^C/catkin_ws$
hyon@hyon-gt683:
Does there anyone successfully build the kinetic version?
I've met the errors as shown below.
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
typedef std::shared_ptr<Type> Name##Ptr;
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:53:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
typedef std::shared_ptr<const Type> Name##ConstPtr;
Any help? thanks
move_group: /tmp/buildd/ros-indigo-moveit-core-0.6.9-0trusty-20140725-0029/constraint_samplers/src/default_constraint_samplers.cpp:574: bool constraint_samplers::IKConstraintSampler::callIK(const Pose&, const IKCallbackFn&, double, moveit::core::RobotState&, bool): Assertion `validate(state)' failed.
This happens with indigo debs but is fixed on hydro sources (and so I suppose that also on hydro debs, but I cannot try it as I use Trusty 14.04). So it seems to be a move_group bug, but I add this issue as warning for possible users (and because it could be turtlebot_arm fault!)
The collision boxes for the pincher gripper are totally inaccurate, leading to collision boxes clipping into each other and generally misbehaved simulation behavior.
Here you can see how the collision boxes don't cover the fingers and instead clip into each other and the base. The base's collision box is also offset a bit.
Hi,
Can Pincher arm track an object by using normal camera or even kinect v1. How the arm can track an object based on color for example ???
This is mostly to initiate a conversation between people somehow involved with this repo (mainly with @mikeferguson) about how we will handle this stack. I have no intention to maintain a hydro branch (nor release, of course), but we can do it if you think that it will be too horrible to have a gap in the ROS versions. That said, those are the steps to do next, I suppose:
What do you think?
BTW @mikeferguson, could you set indigo-devel as the default branch, or give me permits to do so?
Thanks
I want to run the good old Turtlebot PhantomX Pincher Arm on ROS Melodic/Noetic. I'm currently running ROS Melodic on Ubuntu 18.04 and have been facing a lot of dependency issues. I can't open arbotix_gui, can't execute my motion plan on Rviz and can't find a working Gazebo launch file.
If anyone is still working with pincher arm on ROS Melodic/Noetic, please guide.
Hello,
I am looking for the plugins, sdfand launch files for simulating turtlebotarm in ignition gazebo.
There appears to still be something strange going on with the inertial properties of the arm. These two gifs were recorded at the same time scale. I suspect the inertia of some of the arm components is higher than it should be.
@mikeferguson do you plan to release turtlebot_arm into Hydro?
Do you have 7 DOF turtlebot arm urdf file? Or could I make one with your meshes file?
The new parallel jaw gripper from TR needs a URDF and launch file.
Linking urdf , i dont know how to do that. Can someone help me out?
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