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use_sim_time/errorwhilelaunchingd_25.txt | ## Comments | |
use_sim_time/BuildaMoveitPackageh_10.txt | * [ Demo 2 - Descartes Planning and Execution ](../demo2/index.html) | |
use_sim_time/errorwhilelaunchingd_83.txt | Last updated: **Oct 25 '16** | |
use_sim_time/BuildaMoveitPackageh_9.txt | * [ Demo 1 - Perception-Driven Manipulation ](../demo1/index.html) | |
use_sim_time/BuildaMoveitPackageh_12.txt | * [ Exercise 5.0 - Advanced Descartes Path Planning ](../session5/Advanced-Descartes-Path-Planning.html)
* [ Exercise 5.1 - Building a Perception Pipeline ](../session5/Building-a-Perception-Pipeline.html)
* [ Exercise 5.2 - Introduction to STOMP ](../session5/Introduction-to-STOMP.html)
* [ Exercise 5.3 - Simp... | |
use_sim_time/BuildaMoveitPackageh_60.txt | * * * | |
use_sim_time/BuildaMoveitPackageh_67.txt | Downloads | |
use_sim_time/BuildaMoveitPackageh_13.txt | * [ Exercise 6.0 - Documentation Generation ](../session6/Documentation-Generation.html)
* [ Exercise 6.1 - Unit Testing ](../session6/Unit-Testing.html)
* [ Exercise 6.2 - Using rqt tools for Analysis ](../session6/Using-rqt-tools-for-analysis.html)
* [ Exercise 6.3 - ROS Style Guide and ros_lint ](../session6... | |
use_sim_time/errorwhilelaunchingd_58.txt | > Yes, putting the generated folder into a package file structure (as
> mentioned [ here ](http://wiki.ros.org/ROS/Tutorials/CreatingPackage) )
> works. | |
use_sim_time/errorwhilelaunchingd_38.txt | [ 
](/users/5184/gvdhoorn/) | |
use_sim_time/errorwhilelaunchingd_92.txt | [ urdf error ](/question/68032/urdf-error/) | |
use_sim_time/naomoveitconfig_1.txt | Type / to search | |
use_sim_time/BuildaMoveitPackageh_66.txt | [ latest ](/en/latest/)
[ melodic ](/en/melodic/)
[ kinetic ](/en/kinetic/)
[ foxy ](/en/foxy/) | |
use_sim_time/1810_0.txt | Skip to content
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use_sim_time/moveitlaunchfilestut_39.txt | hand_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["robotiq_gripper_controller", "-c", "/controller_manager"],
) | |
use_sim_time/BuildaMoveitPackageh_23.txt | MoveIt! is a free-space motion planning framework for ROS. It’s an incredibly
useful and easy-to-use tool for planning motions between two points in space
without colliding with anything. Under the hood MoveIt is quite complicated,
but unlike most ROS libraries, it has a really nice GUI Wizard to get you
going. | |
use_sim_time/errorwhilelaunchingd_78.txt | 1 follower | |
use_sim_time/errorwhilelaunchingd_48.txt | Edit: | |
use_sim_time/naomoveitconfig_25.txt | Select which part of the robot you want to move: In the plugin list on the upper part of the left column, you can select a group under MotionPlanning/Planning Request/Planning Group | |
use_sim_time/errorwhilelaunchingd_43.txt | "custom" urdfs should still be stored in a ROS package. | |
use_sim_time/moveitlaunchfilestut_45.txt | # ... all our other code goes here | |
use_sim_time/moveitlaunchfilestut_13.txt | .. code-block:: python | |
use_sim_time/1810_4.txt | cd ~/ros2_ws
source install/setup.bash
ros2 launch panda_robot_bringup start_world.launch.py
cd ~/ros2_ws
source install/setup.bash
ros2 launch panda_robot_bringup panda_robot.launch.py
cd ~/ros2_ws
source install/setup.bash
ros2 launch panda_robot_bringup start_control.lau... | |
use_sim_time/errorwhilelaunchingd_7.txt | [ ALL ](/questions/scope:all/sort:activity-desc/page:1/) [ UNANSWERED
](/questions/scope:unanswered/sort:answers-asc/page:1/) | |
use_sim_time/moveitlaunchfilestut_26.txt | * A static transform between the ``world`` frame and the base frame of our robot description, ``base_link``.
* A `robot state publisher <https://github.com/ros/robot_state_publisher>`_ node that listens to the robot's joint states, calculates frame transforms using the robot's URDF model, and publishes them to ``tf2``. | |
use_sim_time/naomoveitconfig_27.txt | NOTE: The start state is not updated automatically, you have to go to 'Select Start State' select 'Current' and click 'Update'. | |
use_sim_time/naomoveitconfig_7.txt | The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot | |
use_sim_time/BuildaMoveitPackageh_51.txt | Essentially, MoveIt can publish a ROS message that defines a trajectory (joint
positions over time), but it doesn’t know how to pass that trajectory to your
hardware. | |
use_sim_time/errorwhilelaunchingd_17.txt | I have generated a moveit configuration from a custom URDF using the MoveIt
Setup assistant and this
tutorial(http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot).
I have been able to generate all the files in the config and launch folders as
well. But, the problem occurs when I try to ... | |
use_sim_time/BuildaMoveitPackageh_59.txt | [ Next ](Motion-Planning-RVIZ.html "Motion Planning using RViz") [ Previous
](Coordinate-Transforms-using-TF.html "Coordinate Tranforms using TF") | |
use_sim_time/BuildaMoveitPackageh_54.txt | 2. Create the ` joint_names.yaml ` file ( ` myworkcell_moveit_config/config/joint_names.yaml ` ):
controller_joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]
| |
use_sim_time/BuildaMoveitPackageh_55.txt | 3. Fill in the existing, but blank, controller_manager launch file ( ` myworkcell_moveit_config/launch/myworkcell_moveit_controller_manager.launch.xml ` ):
<launch>
<arg name="moveit_controller_manager"
default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
<p... | |
use_sim_time/naomoveitconfig_11.txt | catkin_make
And your ready to play with your nao | |
use_sim_time/errorwhilelaunchingd_0.txt | First time here? Check out the FAQ! | |
use_sim_time/moveitlaunchfilestut_22.txt | # Launch RViz
rviz_node = Node(
package="rviz2",
executable="rviz2",
name="rviz2",
output="log",
arguments=["-d", rviz_config],
parameters=[
moveit_config.robot_description,
moveit_config.robot_description_semantic,
moveit_confi... | |
use_sim_time/errorwhilelaunchingd_96.txt | [ about ](/about/) | [ faq ](/faq/) | [ help ](/help/ "help") | [ privacy
policy ](/privacy/) | [ terms of service ](/terms/) | |
use_sim_time/errorwhilelaunchingd_84.txt | ## Related questions | |
use_sim_time/moveitlaunchfilestut_31.txt | MoveIt normally generates joint trajectories that can then be executed by sending them to a robot with a controller capable of executing these trajectories.
Most commonly, we connect to the `ros2_control <https://control.ros.org/master/index.html>`_ library to achieve this. | |
use_sim_time/errorwhilelaunchingd_27.txt | roslaunch manip_moveit_config demo.launch | |
use_sim_time/naomoveitconfig_26.txt | Now you can define your motion by drag and dropping the interactive markers. You can compute a trajectory by clicking the 'planning' button Once the motion is satisfying you can try it on your real robot using 'execute' or 'plan and execute'. | |
use_sim_time/errorwhilelaunchingd_77.txt | Follow | |
use_sim_time/BuildaMoveitPackageh_0.txt | [ Industrial Training ](../../index.html) | |
use_sim_time/errorwhilelaunchingd_90.txt | [ Moveit can't execute a plan with MoveGroupInterface
](/question/350513/moveit-cant-execute-a-plan-with-movegroupinterface/) | |
use_sim_time/BuildaMoveitPackageh_50.txt | * Loads your workspace description to the parameter server.
* Starts a node ` move_group ` that offers a suite of ROS services & actions for doing kinematics, motion planning, and more.
* An internal simulator that publishes the last planned path on a loop for other tools (like RViz) to visualize. | |
use_sim_time/errorwhilelaunchingd_1.txt |
ROS Resources: [ Documentation ](http://wiki.ros.org/) | [ Support
](http://wiki.ros.org/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Index ](http://index.ros.org/) | [ Service
Status ](http://status.ros.org/) | [ ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/r... | |
use_sim_time/errorwhilelaunchingd_85.txt | [ Problems with moveit. Exit code -11 ](/question/193137/problems-with-moveit-
exit-code-11/) | |
use_sim_time/naomoveitconfig_6.txt | URDF and Textures used
This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes | |
use_sim_time/errorwhilelaunchingd_26.txt | Possible confusion, but shouldn't demo.launch be in the ROS package
manip_moveit_config? | |
use_sim_time/errorwhilelaunchingd_53.txt | That "set of files into a configured folder" is really a ROS package. | |
use_sim_time/BuildaMoveitPackageh_16.txt | [  ](http://rosindustrial.org) | |
use_sim_time/BuildaMoveitPackageh_36.txt | 2. Add a fixed virtual base joint. e.g.
name = 'FixedBase' (arbitrary)
child = 'world' (should match the URDF root link)
parent = 'world' (reference frame used for motion planning)
type = 'fixed'
| |
use_sim_time/naomoveitconfig_10.txt | Then you can run the usual | |
use_sim_time/moveitlaunchfilestut_25.txt | As such, our launch file includes nodes that publish both fixed (static) and dynamic names to ``tf2``.
In our case, we need: | |
use_sim_time/moveitlaunchfilestut_8.txt | from moveit_configs_utils import MoveItConfigsBuilder | |
use_sim_time/moveitlaunchfilestut_16.txt | Visualizing with RViz
--------------------- | |
use_sim_time/moveitlaunchfilestut_41.txt | Finally, we can tell our launch file to actually launch everything we described in the previous sections. | |
use_sim_time/errorwhilelaunchingd_75.txt | add a comment | |
use_sim_time/moveitlaunchfilestut_18.txt | The following code uses a launch argument to receive an RViz configuration file name, packages it up as a relative path to a known package directory, and specifies it as an argument when launching the RViz executable. | |
use_sim_time/errorwhilelaunchingd_65.txt | By custom urdf, I mean I have a urdf file which I imported to the MSA(It didnt
need any package name). Now the MSA generates a set of files into a configured
folder with the CMakelists and package files I used the folder name `
manip_moveit_config ` . Should I make a workspace with these files in /src? | |
use_sim_time/moveitlaunchfilestut_23.txt | Publishing Transforms to ``tf2``
-------------------------------- | |
use_sim_time/errorwhilelaunchingd_70.txt | [ 
](/users/27952/joshmarino/) [ JoshMarino ](/users/27952/joshmarino/) (
2016-10-15 11:15:05 -0500 ) edit | |
use_sim_time/moveitlaunchfilestut_3.txt | If you are unfamiliar with launch files in general, refer first to `the ROS 2 documentation <https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Creating-Launch-Files.html>`_. | |
use_sim_time/errorwhilelaunchingd_37.txt | [ **answered 2016-10-15 05:59:02 -0500 ** ](/answers/245761/revisions/) | |
use_sim_time/BuildaMoveitPackageh_8.txt | * [ Exercise 4.0 - Motion Planning using C++ ](../session4/Motion-Planning-CPP.html)
* [ Exercise 4.1 - Intro to Descartes ](../session4/Descartes-Path-Planning.html)
* [ Exercise 4.2 - Intro to Perception ](../session4/Introduction-to-Perception.html) | |
use_sim_time/BuildaMoveitPackageh_31.txt | ## Scan-N-Plan Application: Guidance ¶ | |
use_sim_time/errorwhilelaunchingd_8.txt | | [ Ask Your Question ](/questions/ask/)
---|---|---|---
0 | |
use_sim_time/errorwhilelaunchingd_68.txt | [ 
](/users/27290/t27/) [ t27 ](/users/27290/t27/) ( 2016-10-15 06:46:43 -0500
) edit | |
use_sim_time/naomoveitconfig_12.txt | 2. Run MoveIt
Without a robot -------------You can run this moveit package either unconnected to any robot or attached to a robot (real or simulated): For a standalone execution : | |
use_sim_time/BuildaMoveitPackageh_4.txt | * [ Exercise 0.1 - Intro to Ubuntu GUI ](../prerequisites/Navigating-the-Ubuntu-GUI.html)
* [ Exercise 0.2 - The Linux File System ](../prerequisites/Exploring-the-Linux-File-System.html)
* [ Exercise 0.3 - Using the Terminal ](../prerequisites/The-Linux-Terminal.html) | |
use_sim_time/moveitlaunchfilestut_33.txt | Starting ``ros2_control`` involves launching a controller manager node, and then spawning a list of controllers necessary for trajectory execution.
In our example, we have: | |
use_sim_time/errorwhilelaunchingd_71.txt | Yes, putting the generated folder into a package file structure (as mentioned
[ here ](http://wiki.ros.org/ROS/Tutorials/CreatingPackage) ) works. Also
before running the launch file, I had to ensure ` roscore ` is running(I'd got
stuck once, because it wasn't running) Thanks! | |
use_sim_time/errorwhilelaunchingd_35.txt | ## 1 Answer | |
use_sim_time/errorwhilelaunchingd_61.txt | If you use ` roslaunch ` to start a launch file, starting ` roscore ` should
be done automatically. Again, if that is not the case for you, that would seem
to be a problem, and it'd be appreciated if you could report that. | |
use_sim_time/BuildaMoveitPackageh_40.txt | 5. Don’t worry about adding end effectors/grippers or passive joints for this exercise. | |
use_sim_time/naomoveitconfig_28.txt | About
MoveIt! config files for the Aldebaran NAO | |
use_sim_time/BuildaMoveitPackageh_37.txt | 3. Add a planning group called ` manipulator ` that names the kinematic chain between ` base_link ` and ` tool0 ` . Note: Follow [ ROS naming guidelines/requirements ](http://wiki.ros.org/ROS/Patterns/Conventions) and don’t use any whitespace, anywhere. | |
use_sim_time/errorwhilelaunchingd_99.txt | [ ![ gravatar image]() ]() [ ]() ( 2024-04-18 13:06:44 -0500 ) edit | |
use_sim_time/BuildaMoveitPackageh_32.txt | 1. Start the MoveIt! Setup Assistant (don’t forget auto-complete with tab):
roslaunch moveit_setup_assistant setup_assistant.launch
| |
use_sim_time/moveitlaunchfilestut_20.txt | from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare | |
use_sim_time/errorwhilelaunchingd_32.txt |
> roslaunch manip_moveit_config demo.launch
[demo.launch] is neither a launch file in package [manip_moveit_config] nor is [manip_moveit_config] a launch file name
The traceback for the exception was written to the log file
| |
use_sim_time/moveitlaunchfilestut_15.txt | run_move_group_node = Node(
package="moveit_ros_move_group",
executable="move_group",
output="screen",
parameters=[moveit_config.to_dict()],
) | |
use_sim_time/errorwhilelaunchingd_6.txt | [ __ ](/questions/) | | |
use_sim_time/errorwhilelaunchingd_45.txt |
roslaunch manip_moveit_config demo.launch
| |
use_sim_time/moveitlaunchfilestut_6.txt | A handy way to refer to a MoveIt configuration package is to use the ``MoveItConfigsBuilder`` utility in your Python launch files as follows: | |
use_sim_time/BuildaMoveitPackageh_11.txt | * [ Demo 3 - Optimization Based Path Planning ](../demo3/index.html) | |
use_sim_time/errorwhilelaunchingd_98.txt | Please note: ROS Answers requires javascript to work properly, please enable
javascript in your browser, [ here is how
](https://www.google.com/support/bin/answer.py?answer=23852) | |
use_sim_time/errorwhilelaunchingd_46.txt | Have you (re)built your workspace and ` source ` d the ` setup.bash ` after
you generated the package? | |
use_sim_time/BuildaMoveitPackageh_2.txt | * [ PC Setup ](../setup/PC-Setup---ROS.html) | |
use_sim_time/moveitlaunchfilestut_28.txt | # Static TF
static_tf = Node(
package="tf2_ros",
executable="static_transform_publisher",
name="static_transform_publisher",
output="log",
arguments=["--frame-id", "world", "--child-frame-id", "base_link"],
) | |
use_sim_time/errorwhilelaunchingd_93.txt | [ A subscriber error ](/question/100871/a-subscriber-error/) | |
use_sim_time/errorwhilelaunchingd_12.txt | * [ moveit_setup_assistant ](/questions/scope:all/sort:activity-desc/tags:moveit_setup_assistant/page:1/) | |
use_sim_time/BuildaMoveitPackageh_27.txt | [ MoveIt’s Standard Wizard Guide
](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html) | |
use_sim_time/BuildaMoveitPackageh_57.txt | </include>
</group>
<include file="$(find myworkcell_moveit_config)/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="$(find myworkcell_moveit_config)/launch/moveit_rviz.launch">
<arg name="config" ... | |
use_sim_time/naomoveitconfig_2.txt | Code
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adding RRT as default planner
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launch
... | |
use_sim_time/errorwhilelaunchingd_47.txt | * * * | |
use_sim_time/errorwhilelaunchingd_9.txt | Error while launching demo.launch in custom moveit config | |
use_sim_time/moveitlaunchfilestut_10.txt | # Load the robot configuration
moveit_config = (
MoveItConfigsBuilder(
"gen3", package_name="kinova_gen3_7dof_robotiq_2f_85_moveit_config"
)
.robot_description(mappings=launch_arguments)
.trajectory_execution(file_path="config/moveit_controllers.yaml")
.planni... | |
use_sim_time/BuildaMoveitPackageh_17.txt | [ ROS-Industrial Website ](http://rosindustrial.org) | [ Blog
](http://rosindustrial.org/news) | |
use_sim_time/moveitlaunchfilestut_14.txt | from launch_ros.actions import Node | |
use_sim_time/BuildaMoveitPackageh_46.txt |
catkin build
source ~/catkin_ws/devel/setup.bash
roslaunch myworkcell_moveit_config demo.launch
|
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