search

ipa320 / cob_manipulation

www.care-o-bot.org
Apache License 2.0
31 stars 57 forks source link

support for raw3-6 #129

Closed shenlirobot closed 6 years ago

shenlirobot commented 6 years ago

Hi IPA: Does the package support raw3-6?

Thank you!

bbrito commented 6 years ago

as far as I know cob3-6 is no longer supported. Is this correct @ipa-fxm?

shenlirobot commented 6 years ago

I am trying to set up the pick and place for our raw3-6 = ur10 arm + robotiq gripper. Based on https://github.com/ipa320/cob_manipulation/issues/77, I see the pick and place supports cob3 with sdh and cob4 with sdhx. I guess it does not support robotiq.

I am wondering what do you need to do so that moveit can control the gripper via pick(<some grasp>) function, like what you guys have achieved at https://github.com/ipa320/cob_manipulation/blob/indigo_dev/cob_pick_place_action/ros/src/cob_pick_place_action.cpp#L183?

I didn't see anything special about the moveit config at https://github.com/ipa320/cob_robots/tree/indigo_dev/cob_moveit_config/robots/cob4-10/moveit/config. Do you need to associate controllers with the gripper in moveit? Now I can use moveit to move the UR10 but not the robotiq gripper.

When I am trying to use moveit to grasp, it always shows 

[ WARN] [1508163311.650537965, 117.151000000]: Fail: ABORTED: No motion plan found. No execution attempted.
[ERROR] [1508163311.650581204, 117.151000000]: Pick failed: Could not plan!

Do you need to attach IK to the gripper although the gripper links are not connected as a chain, but a tree?

Thank you so much!

fmessmer commented 6 years ago

first things first: we decided to remove support for raw3-6 both in cob_moveit_config as well as in cob_bringup/cob_hardware_config a while back due to lack of contributing back any changes... if, however, you desire to play back your current robot settings, IPA might be able to re-add your robot again

wrt moveit/pick-place: the cob_pick_place_action package is currently under refactoring (pr #126) it's not yet fully robot-agnostic/-configurable (see #125 and #77) but, in principal, what is needed is a proper moveit_config for the respective groups, i.e. manipulator and gripper, including (follow_joint_trajectory) controllers further, to provide possible grasps to moveit, a grasp table for your gripper...for examples see cob_grasp_generation and the respective readme (see #80 and #127)

fmessmer commented 6 years ago

I'm closing this issue as given hints should be sufficient please open new issues for more specific questions respectively