uarm-developer / rosforswiftandswiftpro Goto Github PK

Hello,

I was wondering why you have Link 8 in pro_model.xacro, as both a child of Joint 8 and a parent of Joint 9? Correct me if I'm wrong, but Link 8 seems to represent the end effector of the Swift Pro.

I am trying to adapt the joystick tutorial from the Moveit! Tutorials page to the swiftpro.

I recall that this issue was lightly addressed in Issue #8 and it was said that you currently don't support the joystick. However, it is still possible to run the joystick.launch file if you hard code a line in moveitjoy_module.py as shown below. The hard coded line was added to the MoveitJoy class in the script.

The ri.get_group_joint_tips(g) returns all of the tip_links that were declared in a robot's srdf. For the swiftpro case, if I do not add the hard coded line in the moveitjoy_module.py, the joystick.launch file will not run. I wondering if the arm group in the swiftpro.srdf was declared properly? Currently, Link3 is declared as a tip link. When I change the tip_link in the swiftpro.srdf to Link8 instead, the joystick.launch still does not run. The joystick.launch file only launches when the hard coded line is added to the moveitjoy_module.py script.

I found this out by running the joystick.launch file in parallel with the pr2 demo.launch file. I added a print statement that returned the output of the ri.get_group_joint_tips(g) function. Below I show screen-shots of the outputs of running the pr2 demo.launch and the swiftpro demo.launch with the joystick.launch file. Here is the pr2.srdf for reference. The output I would like to highlight is under the line "Planning_groups".

Output for PR2

Output for swiftpro (without hard coded line)

Output for swiftpro (without hard coded line)

I am aware that the joystick.launch file is not currently supported, but I'm hoping to come up with a better solution to my problem rather than hard coding the moveitjoy_module.py script. I am trying to figure out why Link3 is not read as a tip_link, if in fact it was created as such in the swiftpro.srdf.

Any suggestions are much appreciated.

Figure about nodes and topics missing from README.

Hi.

How can I use the joystick_control.launch for Swift Pro ?

Thanks.

Hi uArm people,

There are missing links in the xacro description of the robot. This creates a very odd behavior in the graphical output (see attached picture). One such missing joint is between Link4 and Link5. You can quite clearly see which links are not connected on the picture.

Please add the links or post their coordinates and I can add them myself. So far I wasn't able to get the coordinates myself.

Is it compatible with the v4 firmware?
https://forum.ufactory.cc/t/official-the-new-firmware-v4-0-of-uarm-swift-pro-has-been-released/1678

Hey guys,

Firstly thanks so much for a great work. I was trying to compile the packages, but I keep running into troubles with the step "Copy head file into include folder of catkin_ws". I'm attaching the error. In a nutshell it looks like the compiler is looking for the header files in a 'swiftpro/files.h'.

It seems to be referring to the devel/include location, so the compiler works if the header files are placed in devel/include/swiftpro/ folder.

I have initiated a catkin workspace according to the ROS website with these commands:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Then I've copied the swiftpro and swiftpro_moveit packages to the catkin_ws/src folder and run the following from the catkin_ws folder:

cp -r src/swiftpro/include/swiftpro devel/include

It returned the following error: compilingError.txt.
And the process only compiled after the header files were placed in the devel/include/swiftpro/ folder.

I wonder if this is just me or if there is possibly a typo somewhere.

Thanks a lot!

Adam

Is there a straightforward way of simulating the arm in gazebo and controlling with ROS?

Following the install instructions pretty blindly I got an 'Multiple packages found with the same name "swift_moveit_config":' error until I thought of deleting the cloned repository folder.
As this is cloned into the catkin_ws/src folder it causes the error.
An additional line to delete the cloned folder would have been helpful.

None of these topics have a message working correctly:
/angle4th_topic
/gripper_topic
/joint_states
/position_write_topic

I find only this one working properly:
rostopic info /joint_states

rosmsg show sensor_msgs/JointState
std_msgs/Header header
uint32 seq
time stamp
string frame_id
string[] name
float64[] position
float64[] velocity
float64[] effort

An error appears when executing "demo.launch".
What's the problem with this?
I attached a picture.
Please help me.

When the arm receives a command to move to a new position, the node immediately publishes this new position as the arm state, which is false, because the arm has yet to move into that new position, and might never actually do.

Hey, It seems that u have these lines in ur CMakeLists:
set_target_properties(swiftpro_write_node PROPERTIES OUTPUT_NAME write PREFIX "")
set_target_properties(swiftpro_moveit_node PROPERTIES OUTPUT_NAME moveit PREFIX "")
set_target_properties(swiftpro_rviz_node PROPERTIES OUTPUT_NAME rviz PREFIX "")
set_target_properties(swiftpro_read_node PROPERTIES OUTPUT_NAME read PREFIX "")
which renamed compiled library into write/moveit/rviz/read.
BUT! the launch file(display and control) is still looking for libraries with original name. So at least one of them need to be changed, launch file or CMakeLists

Best