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islers / youbot_controllers

Some additional ROS nodes for controlling the KUKA youbot
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Base_controller/followJointTrajectoryController as a controller for MoveIt #5

Open robotgradient opened 6 years ago

robotgradient commented 6 years ago

Hi,

I am working with the youbot trying to make the robot acts in a mobile manipulation mode. In order to do that I am planning the movement of the base and arm in moveit and then using your base_controller/followJointTrajectory as the moveIt controller.

Anyway, as I am running moveit with a certain asyncSpinner and you are running another asyncSpinner into the FollowJointTrajectoryAction I am getting stuck.

Have you been able to merge moveIt and your controller?

Bests,

Julen U.

islers commented 6 years ago

Hi Julen,

So all of this code is rather old and was used as part of a project I did as a student. Obviously it's great if it's useful to you but I don't know how it works with the current MoveIt and/or youbot stack (or even if Kuka released something new). Here's what I remember: MoveIt used to not be able to control the base position at all when I used it (even though that its documentation made the impression that it might - took me a moment back then to figure out that it was really only intended for manipulator planning, ie the robot arm). So what I did is using MoveIt for the planning of the arm trajectory and sending commands to my base controller separately - which was sufficient for the particular task I had to carry out. I do not know how MoveIt evolved since then as I haven't used it anymore.

Regarding your specific question I don't see why having two or more asynchronous spinners should be a problem per se. You'll anyway have to handle multithreading properly with async spinners, maybe also ensure that it's clear on which topic queues they operate. But that's generally related to how ROS handles these things.

Best, Stefan