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use_sim_time/moveitlaunchfilestut_38.txt | arm_controller_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=["joint_trajectory_controller", "-c", "/controller_manager"],
) | |
use_sim_time/BuildaMoveitPackageh_34.txt | 3. Work your way through the tabs on the left from the top down. | |
use_sim_time/moveitlaunchfilestut_24.txt | Many tools in the ROS ecosystem use the `tf2 <https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Tf2.html>`_ library to represent coordinate transforms, which are an important part of motion planning with MoveIt. | |
use_sim_time/errorwhilelaunchingd_100.txt | [ none ](/questions/scope:all/sort:activity-desc/tags:none/page:1/) × | |
use_sim_time/naomoveitconfig_4.txt | https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description | |
use_sim_time/BuildaMoveitPackageh_52.txt | To do this, we need to define a few extra files. | |
use_sim_time/BuildaMoveitPackageh_62.txt | © Copyright 2017, ROS-Industrial Revision ` 1f327dee ` . | |
use_sim_time/errorwhilelaunchingd_51.txt | Or are you saying that your urdf is stored in your home directory, or at the
root of your workspace, without any package(s) at all? | |
use_sim_time/errorwhilelaunchingd_16.txt | [ t27 ](/users/27290/t27/)
68 ● 5 ● 8 ● 13 | |
use_sim_time/BuildaMoveitPackageh_3.txt | * [ MIT Introduction to C++ ](http://ocw.mit.edu/courses/electrical-engineering-and-computer-science/6-096-introduction-to-c-january-iap-2011/assignments/)
* [ Bruce Eckel Thinking in C++ ](http://mindview.net/Books/TICPP/ThinkingInCPP2e.html) | |
use_sim_time/moveitlaunchfilestut_36.txt | ros2_controllers_path = os.path.join(
get_package_share_directory("kinova_gen3_7dof_robotiq_2f_85_moveit_config"),
"config",
"ros2_controllers.yaml",
)
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
parameters=[ros2_con... | |
use_sim_time/errorwhilelaunchingd_23.txt | What am I missing here? Do I need to perform any other steps(besides those
mentioned in the tutorial) to get it to work? | |
use_sim_time/BuildaMoveitPackageh_64.txt | Read the Docs v: melodic | |
use_sim_time/BuildaMoveitPackageh_58.txt | 5. Now let’s test the new launch files we created:
roslaunch myworkcell_moveit_config myworkcell_planning_execution.launch
| |
use_sim_time/moveitlaunchfilestut_37.txt | joint_state_broadcaster_spawner = Node(
package="controller_manager",
executable="spawner",
arguments=[
"joint_state_broadcaster",
"--controller-manager",
"/controller_manager",
],
) | |
use_sim_time/BuildaMoveitPackageh_33.txt | 2. Select “Create New MoveIt Configuration Package”, select the ` workcell.xacro ` you created previously, then “Load File”. | |
use_sim_time/naomoveitconfig_13.txt | roslaunch nao_moveit_config demo.launch
Once launching the demo, you should see the robot in MoveIt! GUI like this: | |
use_sim_time/errorwhilelaunchingd_67.txt | And should i then rebuild and ` source ` the setup files of this workspace? | |
use_sim_time/naomoveitconfig_18.txt | roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch
Wait until it is ready, then run: | |
use_sim_time/errorwhilelaunchingd_29.txt | Thats the problem, I havent generated a package. Its only a folder where the
moveit setup assistant exported the config files. Although the folder does
have a CMakeLists and a package.xml file. How do i convert this file structure
to a Ros "package"? cant I directly run a launch file? | |
use_sim_time/errorwhilelaunchingd_66.txt | [ 
](/users/27290/t27/) [ t27 ](/users/27290/t27/) ( 2016-10-15 06:46:07 -0500
) edit | |
use_sim_time/naomoveitconfig_22.txt | Finally, start MoveIt!: | |
use_sim_time/BuildaMoveitPackageh_45.txt | The outcome of these steps will be a new package that contains a large number
of launch and configuration files. At this point, it’s possible to do motion
planning, but not to execute the plan on any robot. To try out your new
configuration: | |
use_sim_time/BuildaMoveitPackageh_65.txt | Versions | |
use_sim_time/naomoveitconfig_21.txt | roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch
Wait until it is ready, then click on the Play button in Gazebo. | |
use_sim_time/errorwhilelaunchingd_28.txt | [ 
](/users/27952/joshmarino/) [ JoshMarino ](/users/27952/joshmarino/) (
2016-10-14 23:54:51 -0500 ) edit | |
use_sim_time/BuildaMoveitPackageh_15.txt | __ [ Industrial Training ](../../index.html) | |
use_sim_time/1810_1.txt | * [ Collections ](/collections)
* [ Pricing ](/pricing)
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use_sim_time/errorwhilelaunchingd_24.txt | [ edit ](/questions/245740/edit/) [ retag ](/s/questions/245740/retag/) flag
offensive [ close ](/questions/245740/close/) merge delete | |
use_sim_time/naomoveitconfig_3.txt | 8 years ago
CMakeLists.txt
install the .setup_assistant file for potential introspection
9 years ago
README.rst
Update README.rst
8 years ago
package.xml
0.0.11
8 years ago
Repository files navigation
README
nao_moveit_config
This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model whic... | |
use_sim_time/BuildaMoveitPackageh_71.txt | * * * | |
use_sim_time/BuildaMoveitPackageh_1.txt | melodic | |
use_sim_time/BuildaMoveitPackageh_21.txt | > In this exercise, we will create a MoveIt! package for an industrial robot.
> This package creates the configuration and launch files required to use a
> robot with the MoveIt! Motion-Control nodes. In general, the MoveIt! package
> does not contain any C++ code. | |
use_sim_time/BuildaMoveitPackageh_22.txt | ## Motivation ¶ | |
use_sim_time/errorwhilelaunchingd_44.txt | The MSA generates regular ROS packages, so you should be able to launch them
using | |
use_sim_time/1810_5.txt |
Don't know if this makes any sense?
I this resetting some parameters?
Does anyone know what could this be?
Because even when the arrows appear, it fails to execute, giving the error:
[move_group-1] [WARN] [1671100824.609050047] [moveit_ros.trajectory_execution_manager]: Failed to validate trajector... | |
use_sim_time/errorwhilelaunchingd_64.txt | ## Comments | |
use_sim_time/errorwhilelaunchingd_4.txt | [ tags ](/tags/) [ users ](/users/) [ badges ](/badges/) | |
use_sim_time/BuildaMoveitPackageh_14.txt | * [ Exercise 7.0 - ROS2 basics ](../session7/ROS2-Basics.html)
* [ Exercise 7.1 - ROS1 to ROS2 porting ](../session7/ROS1-to-ROS2-porting.html)
* [ Exercise 7.2 - Using the ROS1-ROS2 bridge ](../session7/ROS1-ROS2-bridge.html) | |
use_sim_time/BuildaMoveitPackageh_49.txt | MoveIt!’s setup assistant generates a suite of files that, upon launch: | |
use_sim_time/errorwhilelaunchingd_63.txt | * * | |
use_sim_time/naomoveitconfig_16.txt | First, set NAO_IP environment variable to your robot's IP address: | |
use_sim_time/errorwhilelaunchingd_94.txt | [ Reusing MoveIt configuration package or not? ](/question/386473/reusing-
moveit-configuration-package-or-not/) | |
use_sim_time/errorwhilelaunchingd_49.txt | > By custom urdf, I mean I have a urdf file which I imported to the MSA(It
> didnt need any package name). | |
use_sim_time/naomoveitconfig_29.txt | Resources
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@mikaelarguedas
mikaelarguedas Mikael Arguedas
@vrabaud
vrabaud Vincent Rabaud
@nlyubova
nlyubova Natalia Lyubova
@costashatz
costashatz ... | |
use_sim_time/errorwhilelaunchingd_62.txt | [ edit ](/s/answers/245761/edit/) flag offensive delete [ link
](/question/245740/error-while-launching-demolaunch-in-custom-moveit-
config/?answer=245761#post-id-245761 "permanent link") more | |
use_sim_time/errorwhilelaunchingd_34.txt | add a comment | |
use_sim_time/naomoveitconfig_9.txt | For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer. | |
use_sim_time/moveitlaunchfilestut_32.txt | While ``ros2_control`` allows you to connect to real robot hardware, or robots in a physics-based simulator like Gazebo or NVIDIA Isaac Sim, it also exposes a `mock components <https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/mock_components_userdoc.html>`_ capability for simple, idealized simulat... | |
use_sim_time/errorwhilelaunchingd_81.txt | Asked: ** 2016-10-14 17:09:50 -0500 ** | |
use_sim_time/errorwhilelaunchingd_88.txt | [ Moveit with differential gear wrist ](/question/412743/moveit-with-
differential-gear-wrist/) | |
use_sim_time/moveitlaunchfilestut_11.txt | Launching Move Group
-------------------- | |
use_sim_time/errorwhilelaunchingd_36.txt | Sort by » [ oldest ](/question/245740/error-while-launching-demolaunch-in-
custom-moveit-config/?sort=oldest#sort-top) [ newest
](/question/245740/error-while-launching-demolaunch-in-custom-moveit-
config/?sort=latest#sort-top) [ most voted ](/question/245740/error-while-
launching-demolaunch-in-custom-moveit-config... | |
use_sim_time/errorwhilelaunchingd_30.txt | [ 
](/users/27290/t27/) [ t27 ](/users/27290/t27/) ( 2016-10-15 03:51:27 -0500
) edit | |
use_sim_time/moveitlaunchfilestut_9.txt | # Define xacro mappings for the robot description file
launch_arguments = {
"robot_ip": "xxx.yyy.zzz.www",
"use_fake_hardware": "true",
"gripper": "robotiq_2f_85",
"dof": "7",
} | |
use_sim_time/BuildaMoveitPackageh_24.txt | ## Reference Example ¶ | |
use_sim_time/naomoveitconfig_23.txt | roslaunch nao_moveit_config moveit_planner.launch
This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm. | |
use_sim_time/BuildaMoveitPackageh_35.txt | 1. Generate a self-collision matrix. | |
use_sim_time/errorwhilelaunchingd_57.txt | Edit: | |
use_sim_time/moveitlaunchfilestut_43.txt | # ... all our imports go here | |
use_sim_time/moveitlaunchfilestut_34.txt | * A joint state broadcaster, which publishes the joint states necessary for the robot state publisher to send frames to ``tf2``.
* A joint trajectory controller for the arm actuators.
* A gripper action controller for the parallel-jaw gripper. | |
use_sim_time/errorwhilelaunchingd_14.txt | [ **asked 2016-10-14 17:09:50 -0500 ** ](/questions/245740/revisions/) | |
use_sim_time/moveitlaunchfilestut_40.txt | Launching all the nodes
----------------------- | |
use_sim_time/moveitlaunchfilestut_35.txt | .. code-block:: python | |
use_sim_time/errorwhilelaunchingd_73.txt | ` Hm. The MSA should have generated a complete ROS package for you. If that
was not the case, then it'd be nice if you could report that at ros-
planning/moveit/issues. ` MSA generates a package,I meant that I needed to
move that folder to ./src/ in my workspace and run catkin_make to make it work | |
use_sim_time/errorwhilelaunchingd_55.txt | Yes. Afterwards, you should be able to launch ` demo.launch ` succesfully. | |
use_sim_time/BuildaMoveitPackageh_70.txt | [ Project Home ](//readthedocs.org/projects/industrial-training-master/?fromdocs=industrial-training-master)
[ Builds ](//readthedocs.org/builds/industrial-training-master/?fromdocs=industrial-training-master) | |
use_sim_time/errorwhilelaunchingd_101.txt | *[
2016-10-14 17:09:50 -0500
]: 2016-10-14 17:09:50 -0500
*[
2016-10-14 23:54:51 -0500
]: 2016-10-14 23:54:51 -0500
*[
2016-10-15 03:51:27 -0500
]: 2016-10-15 03:51:27 -0500
*[
2016-10-15 04:16:51 -0500
]: 2016... | |
use_sim_time/errorwhilelaunchingd_11.txt | * [ moveit ](/questions/scope:all/sort:activity-desc/tags:moveit/page:1/) | |
use_sim_time/errorwhilelaunchingd_18.txt | Since this is a custom URDF, there's no package name, hence I simply use this
command to launch the file | |
use_sim_time/naomoveitconfig_15.txt | On a real robot -------------To launch it on a real nao you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual) | |
use_sim_time/1810_2.txt | * [ Discussions ](/ros-planning/moveit2/discussions)
* [ Actions ](/ros-planning/moveit2/actions)
* [ Projects 1 ](/ros-planning/moveit2/projects)
* [ Security ](/ros-planning/moveit2/security)
* [ Insights ](/ros-planning/moveit2/pulse)
Additional navigation options
* [ Code ](/ros-planning/moveit2)... | |
use_sim_time/errorwhilelaunchingd_3.txt | [  ](/questions/) | |
use_sim_time/errorwhilelaunchingd_74.txt | [ 
](/users/27290/t27/) [ t27 ](/users/27290/t27/) ( 2016-10-25 15:04:04 -0500
) edit | |
use_sim_time/BuildaMoveitPackageh_39.txt | 4. Create a few named positions (e.g. “home”, “allZeros”, etc.) to test with motion-planning. | |
use_sim_time/errorwhilelaunchingd_79.txt | [ subscribe to rss feed ](/feeds/question/245740/ "subscribe to the rss feed") | |
use_sim_time/BuildaMoveitPackageh_5.txt | * [ Exercise 1.0 - ROS Setup ](../session1/ROS-Setup.html)
* [ Exercise 1.1 - Create a Workspace ](../session1/Create-Catkin-Workspace.html)
* [ Exercise 1.2 - Installing Packages ](../session1/Installing-Existing-Packages.html)
* [ Exercise 1.3 - Packages and Nodes ](../session1/Creating-a-ROS-Package-and-Node... | |
use_sim_time/moveitlaunchfilestut_21.txt | # Get the path to the RViz configuration file
rviz_config_arg = DeclareLaunchArgument(
"rviz_config",
default_value="kinova_moveit_config_demo.rviz",
description="RViz configuration file",
)
rviz_base = LaunchConfiguration("rviz_config")
rviz_config = PathJoinSubstitution(
... | |
use_sim_time/BuildaMoveitPackageh_72.txt | Free document hosting provided by [ Read the Docs
](http://www.readthedocs.org) . | |
use_sim_time/errorwhilelaunchingd_52.txt | > 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 `
> . | |
use_sim_time/errorwhilelaunchingd_22.txt | Here, ` manip_moveit_config ` is the name of the folder in which I saved my
moveit config (in the last step of the setup assistant) | |
use_sim_time/moveitlaunchfilestut_42.txt | .. code-block:: python | |
use_sim_time/moveitlaunchfilestut_19.txt | .. code-block:: python | |
use_sim_time/errorwhilelaunchingd_91.txt | [ Take 3D self filter out of moveit! ](/question/165676/take-3d-self-filter-
out-of-moveit/) | |
use_sim_time/BuildaMoveitPackageh_38.txt | a. Set the kinematics solver to ` KDLKinematicsPlugin ` | |
use_sim_time/moveitlaunchfilestut_46.txt | return LaunchDescription(
[
rviz_config_arg,
rviz_node,
static_tf,
robot_state_publisher,
run_move_group_node,
ros2_control_node,
joint_state_broadcaster_spawner,
arm_contr... | |
use_sim_time/errorwhilelaunchingd_69.txt | Yes, give this a try for sure. When gvdhoorn says custom URDFs should be
stored in a ROS package, he is correct. This is because demo.launch looks for
URDF in a launch file from another ROS package. You will either have to
replace this with correct location or make a package for it (very easy). | |
use_sim_time/moveitlaunchfilestut_44.txt | def generate_launch_description(): | |
use_sim_time/moveitlaunchfilestut_0.txt | Launch Files in MoveIt
====================== | |
use_sim_time/1810_8.txt | planning/moveit2/issues?q=is%3Aissue+is%3Aclosed+archived%3Afalse+reason%3Acompleted)
Jan 19, 2023
[ Sign up for free ](/join?source=comment-repo) **to join this conversation on
GitHub** . Already have an account? [ Sign in to comment
](/login?return_to=https%3A%2F%2Fgithub.com%2Fros-
planning%2Fmoveit2%2Fissues%2F1810... | |
use_sim_time/errorwhilelaunchingd_19.txt |
roslaunch ./launch/demo.launch
| |
use_sim_time/moveitlaunchfilestut_7.txt | .. code-block:: python | |
use_sim_time/BuildaMoveitPackageh_29.txt | In this exercise, you will generate a MoveIt package for the UR5 workcell you
built in a previous step. This process will mostly involve running the MoveIt!
Setup Assistant. At the end of the exercise you should have the following: | |
use_sim_time/BuildaMoveitPackageh_19.txt | * * * | |
use_sim_time/naomoveitconfig_20.txt | Launch Gazebo, like this: | |
use_sim_time/errorwhilelaunchingd_95.txt | [ 
](http://creativecommons.org/licenses/by-sa/3.0/legalcode) ROS Answers is
licensed under Creative Commons Attribution 3.0 Content on this site is
licensed under a [ Creative Commons Attribution Share Alike 3.0
](http://creativecommons.org/licenses/by-sa/3.0/legal... | |
use_sim_time/errorwhilelaunchingd_13.txt | * [ urdf ](/questions/scope:all/sort:activity-desc/tags:urdf/page:1/) | |
use_sim_time/moveitlaunchfilestut_12.txt | Once all the MoveIt configuration parameters have been loaded, you can launch the :ref:`Move Group Interface` using the entire set of loaded MoveIt parameters. | |
use_sim_time/moveitlaunchfilestut_29.txt | # Publish TF
robot_state_publisher = Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="both",
parameters=[moveit_config.robot_description],
) | |
use_sim_time/BuildaMoveitPackageh_68.txt | [ pdf ](//industrial-training-master.readthedocs.io/_/downloads/en/melodic/pdf/)
[ html ](//industrial-training-master.readthedocs.io/_/downloads/en/melodic/htmlzip/)
[ epub ](//industrial-training-master.readthedocs.io/_/downloads/en/melodic/epub/) |
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