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2019-04-18 02:21:10 -0500 marked best answer MoveIt setup assistant crashes during collision matrix building

I am trying to use MoveIt! with a custom robot. I have buit a simple one arm robot that can rotate around 2 axes.

I have installed the MoveIt!, built the robot and now I want to generate the moveit files using the MoveIt setup assistant. When I load the model description into the assistant, the whole robot is red.

image description

When I click the Create Collision Matrix button in the Self-Collisions tab, the assistant crashes. Closes itself and prints on the terminal only, that the process has died. The terminal outputs speaks about a log, but this log was not created. So I don't even know what error I got.

image description

the full terminal output:

linux@linux-Precision-T1650:~/catkin_ws/src$ roslaunch moveit_setup_assistant setup_assistant.launch
... logging to /home/linux/.ros/log/cd4f6daa-6115-11e9-9392-b8ca3aa30f44/roslaunch-linux-Precision-T1650-29494.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://linux-Precision-T1650:41067/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    moveit_setup_assistant (moveit_setup_assistant/moveit_setup_assistant)

auto-starting new master
process[master]: started with pid [29508]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cd4f6daa-6115-11e9-9392-b8ca3aa30f44
process[rosout-1]: started with pid [29522]
started core service [/rosout]
process[moveit_setup_assistant-2]: started with pid [29534]
[rospack] Error: no package given
[librospack]: error while executing command
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
[ INFO] [1555508218.850993372]: Loaded robotic_arm robot model.
[ INFO] [1555508218.851097573]: Setting Param Server with Robot Description
[ INFO] [1555508218.860170230]: Robot semantic model successfully loaded.
[ INFO] [1555508218.860221031]: Setting Param Server with Robot Semantic Description
[ INFO] [1555508218.894222163]: Loading robot model 'robotic_arm'...
[ INFO] [1555508218.894272202]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1555508219.506530968]: Stereo is NOT SUPPORTED
[ INFO] [1555508219.506640640]: OpenGl version: 4.6 (GLSL 4.6).
[ INFO] [1555508219.734681131]: Loading robot model 'robotic_arm'...
[ INFO] [1555508219.734724579]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1555508219.890169560]: Loading Setup Assistant Complete
================================================================================REQUIRED process [moveit_setup_assistant-2] has died!
process has died [pid 29534, exit code -11, cmd /home/linux/catkin_ws/devel/lib/moveit_setup_assistant/moveit_setup_assistant __name:=moveit_setup_assistant __log:=/home/linux/.ros/log/cd4f6daa-6115-11e9-9392-b8ca3aa30f44/moveit_setup_assistant-2.log].
log file: /home/linux/.ros/log/cd4f6daa-6115-11e9-9392-b8ca3aa30f44/moveit_setup_assistant-2*.log
Initiating shutdown!
================================================================================
[moveit_setup_assistant-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Do you have any idea? What can cause it? What else can I check? I am trying to understand the MoveIt!, so far without much success. So I will be glad for any explanations. Thank you.

2019-04-18 02:20:51 -0500 answered a question MoveIt setup assistant crashes during collision matrix building

The collision matrix was successfully generated once I modified the revolute joint velocity and effort limits to a speci

2019-04-17 08:50:22 -0500 edited question MoveIt setup assistant crashes during collision matrix building

MoveIt setup assistant crashes during collision matrix building I am trying to use MoveIt! with a custom robot. I have b

2019-04-17 08:49:21 -0500 asked a question MoveIt setup assistant crashes during collision matrix building

MoveIt setup assistant crashes during collision matrix building I am trying to use MoveIt! with a custom robot. I have b

2019-04-17 03:13:30 -0500 commented question Using SetForce and GetJoint() Function

Your plugin has this line std::string joint = this->model->GetName()+ "polaris_ranger_xp900" + "rear_left_wheel_jo

2019-04-17 03:12:29 -0500 commented question Using SetForce and GetJoint() Function

Your plugin has this line std::string joint = this->model->GetName()+ "polaris_ranger_xp900" + "rear_left_wheel_jo

2019-04-11 11:12:45 -0500 commented question Why are my joints moving / stretching under force?

The struts ought to be fixed or ommited. The model behaves as expected according to your URDF description.

2019-04-11 11:06:14 -0500 commented answer GetJointController() equivalent function for a link to handle control to links

Sorry I didn't have time back then to rewrite it into your context. This code below should be directly applicable in you

2019-04-11 11:05:03 -0500 commented answer GetJointController() equivalent function for a link to handle control to links

Sorry I didn't have time back then to rewrite it into your context. This code below should be directly applicable in you

2019-04-10 10:52:15 -0500 commented answer GetJointController() equivalent function for a link to handle control to links

The correct way of getting a joint is following: std::string joint_ptr_name = this->model->GetName() + "::" + this

2019-04-09 05:17:56 -0500 commented question GetJointController() equivalent function for a link to handle control to links

In that case look at the SetForce and SetTorque methods in Link and Joint objects API.

2019-03-29 05:21:11 -0500 commented question GetJointController() equivalent function for a link to handle control to links

There is no method in the API documentation that seems to do this. But the documentation is very bad, so either there is

2019-03-29 05:20:08 -0500 commented question GetJointController() equivalent function for a link to handle control to links

There is no method in the API documentation that seems to do this. But the documentation is very bad, so either there is

2019-03-28 09:17:57 -0500 commented question GetJointController() equivalent function for a link to handle control to links

Attach a joint to your link and control it through the joint. There is no justification from physics point of view for h

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2019-03-22 02:45:42 -0500 commented question Drone slips from top of a moving platform

Did you add friction also to the drone?

2019-03-22 02:41:30 -0500 commented question Robotiq 3f gripper problem

Did you observe a difference in the said gripper behavior? Might that be caused by the suboptimal PID values? It sounds

2019-03-21 11:29:12 -0500 commented question Robotiq 3f gripper problem

Did you tune the pid parameters of the controller?

2019-03-21 03:44:11 -0500 commented question How to use plugins for sensors?

You are not supposed to copy the source code into your own package. When you install gazebo, you already have an access

2019-03-20 08:33:45 -0500 marked best answer How to set a model's position using /gazebo/set_model_state service in python

I want to set a model's position to origin after each measure loop, so that I can make automatically several measurements in the same conditions.

The /gazebo/set_model_state service enables us to transport the model to set position. How do I use it in python node?

2019-03-20 08:33:27 -0500 answered a question How to set a model's position using /gazebo/set_model_state service in python

The code below shows a node written in python, that will set the my_robot's position to the origin of the map. The servi

2019-03-20 08:26:33 -0500 asked a question How to set a model's position using /gazebo/set_model_state service in python

How to set a model's position using /gazebo/set_model_state service in python I want to set a model's position to origin

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2019-03-15 04:51:17 -0500 edited answer Return forces/torques set to joints via physics::Joint::SetParam("vel", ...)

Look into the API documentation http://gazebosim.org/api You didn't mention your version of Gazebo, so for example from

2019-03-15 04:49:14 -0500 edited answer Return forces/torques set to joints via physics::Joint::SetParam("vel", ...)

Look into the API documentation http://gazebosim.org/api You didn't mention your version of Gazebo, so for example from

2019-03-15 04:46:34 -0500 edited answer Return forces/torques set to joints via physics::Joint::SetParam("vel", ...)

Look into the API documentation http://gazebosim.org/api You didn't mention your version of Gazebo, so for example from

2019-03-15 04:45:58 -0500 answered a question Return forces/torques set to joints via physics::Joint::SetParam("vel", ...)

Look into the API http://gazebosim.org/api You didn't mention your version of Gazebo, so for example from Gazebo 9 API

2019-03-15 04:39:39 -0500 commented answer Custom Ackermann Robot in Gazebo

Accept your answer if it is the right answer for your question. Otherwise edit your question adding the content of this

2019-03-15 04:39:13 -0500 commented answer Custom Ackermann Robot in Gazebo

Accept your answer if it is the right answer for your question.

2019-03-15 04:37:03 -0500 commented answer Custom Ackermann Robot in Gazebo

Accept your answer if it is the right answer for your question.

2019-03-15 04:33:14 -0500 answered a question Robot slips on ground while moving arm

You can put static tags to the base link. It might cause problems with the simulation as it introduces more constraints.

2019-03-15 04:21:17 -0500 commented question Gazebo problem with model

Can you post the urdf tree you get by running urdf_to_graphiz <filename>.urdf?

2019-03-15 04:12:20 -0500 answered a question This robot has a joint named "wheel_right_joint" which is not in the gazebo model.

Joint tag does not belong inside the transmission tag. You define your joints in model tags. Then you pass the transmis

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2019-03-06 06:51:57 -0500 commented question set_model_configuration

Is the robot able to move after you unpause the simulation or is it crashed?

2019-03-01 10:48:33 -0500 asked a question How to make a link with collision geometry walking through objects?

How to make a link with collision geometry walking through objects? I want to detect an obstacle in a certain distance a

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2019-03-01 07:37:33 -0500 asked a question Sensor Plugin is not loading

Sensor Plugin is not loading I put a ray sensor on my robot with a custom plugin that is for now just copy-paste of the

2019-03-01 03:43:52 -0500 asked a question How does ray sensor work?

How does ray sensor work? I am trying to understand the ray sensor. When I look into the RaySensor.cc file, I can see

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2019-02-28 09:39:03 -0500 asked a question Can I get contacts from a ray sensor

Can I get contacts from a ray sensor It would come in handy to know the object a ray sensor has intersected with. Since

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2019-02-27 07:41:19 -0500 asked a question What does gazebo::physics::Link::GetRelativePose() return?

What does gazebo::physics::Link::GetRelativePose() return? I wrote a model plugin that takes the output of GetRelativePo

2019-02-26 12:04:48 -0500 asked a question What happens when you save a model in model editor?

What happens when you save a model in model editor? A have spawned a robot from an URDF description into the Gazebo simu

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