search

JeroenDM / moveit_opw_kinematics_plugin

An attempt at writing a MoveIt! plugin for opw_kinematics.
http://wiki.ros.org/moveit_opw_kinematics_plugin
Apache License 2.0
7 stars 7 forks source link

Is this still an attempt? #84

Open AltinayGrass opened 1 year ago

AltinayGrass commented 1 year ago

If not. I have a issue. [ INFO] [1667678533.447750440]: Loading robot model 'SR80'... [ INFO] [1667678533.483845187]: MoveItOPWKinematicsPlugin initializing [ INFO] [1667678533.484084543]: Dimension planning group 'manipulator': 6. Active Joints Models: 6. Mimic Joint Models: 0 [ INFO] [1667678533.484296375]: Getting kinematic parameters from parameter server. [ INFO] [1667678533.487320942]: Loaded parameters for ik solver: Distances: [0.175 -0.206 0 0.63 0.905 1.02 0.25] Offsets = [0 0 -1.5708 0 0 0 ] Sign_corrections = [1 -1 -1 1 -1 1 ] [ERROR] [1667678533.489210980]: Pose orientation error on element (1, 1). [ERROR] [1667678533.489230847]: opw: 1.000000, moveit: -1.000000. [ERROR] [1667678533.489239844]: Pose orientation error on element (2, 0). [ERROR] [1667678533.489247963]: opw: -1.000000, moveit: 1.000000. [ERROR] [1667678533.489259009]: The OPW parameters loaded from the parameter server appear to be incorrect (self-test failed for '0 0 0 0 0 0'). I tried all combination around sign corrections but I will not solve the orientation error. Should I change URDF definition ?

simonschmeisser commented 1 year ago

We made the self-check a two step process to be able to debug a mismatch between opw parameters and URDF more easily.

First all 0 is checked and it fails here. Sign corrections do not have any influence for the all-0 position. You don't have an error about a pose position so your distances and most of the offsets appear to be correct. Maybe your last frame is oriented differently? Or has some joint offset?

Do you have a link to the robot and it's URDF?

AltinayGrass commented 1 year ago

Thanks for your kindly reply.Here is my respiratory;https://github.com/AltinayGrass/sr80_moveit_config/tree/noeticOn Nov 5, 2022 23:49, Simon Schmeisser @.***> wrote: We made the self-check a two step process to be able to debug a mismatch between opw parameters and URDF more easily. First all 0 is checked and it fails here. Sign corrections do not have any influence for the all-0 position. You don't have an error about a pose position so your distances and most of the offsets appear to be correct. Maybe your last frame is oriented differently? Or has some joint offset? Do you have a link to the robot and it's URDF?

—Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: @.***>

AltinayGrass commented 1 year ago

Hello Simon,

I checked my 3D data and URDF file. Robot has more than one rotation axis on its links. Could this the cause of the error?

Thanks in advance

From: Simon Schmeisser @.> Sent: Saturday, November 5, 2022 23:50 To: JeroenDM/moveit_opw_kinematics_plugin @.> Cc: Ağan Şimşek @.>; Author @.> Subject: Re: [JeroenDM/moveit_opw_kinematics_plugin] Is this still an attempt? (Issue #84)

We made the self-check a two step process to be able to debug a mismatch between opw parameters and URDF more easily. First all 0 is checked and it fails here. Sign corrections do not have any influence for the all-0 position. You don't have an error about a pose position so your distances and most of the offsets appear to be correct. Maybe your last frame is oriented differently? Or has some joint offset? Do you have a link to the robot and it's URDF? — Reply to this email directly, view it on GitHub https://github.com/JeroenDM/moveit_opw_kinematics_plugin/issues/84#issuecomment-1304639137 , or unsubscribe https://github.com/notifications/unsubscribe-auth/AXISIJKFFLGF66R734VDXCDWG3B6PANCNFSM6AAAAAARYCNRV4 . You are receiving this because you authored the thread. https://github.com/notifications/beacon/AXISIJJUDO5MIG6SEANZD5LWG3B6PA5CNFSM6AAAAAARYCNRV6WGG33NNVSW45C7OR4XAZNMJFZXG5LFINXW23LFNZ2KUY3PNVWWK3TUL5UWJTSNYM3KC.gif Message ID: @. @.> >