Moveit Execution - Githubissues

justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.

Apache License 2.0

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Moveit Execution #8

Closed moritzknaust closed 3 years ago

moritzknaust commented 3 years ago

Hi @justagist! I have a second question: The simulator should support MoveIt, right? I can plan trajectories like normal, but I cannot execute them on the simulator.

Moveit wants to subscribe to a position_joint_trajectory_controller/follow_joint_trajectory but this fails, because the sim_controllers are used. But they do not support FollowJointTrajectory input. Is there a way to execute the trajectories on the simulator with one controller?

I'm not sure if I just didn't find this option or if it is necessary to write a new FollowJointTrajectory controller using one of the sim-controllers.

justagist commented 3 years ago

The simulator should start the moveit server by default. Are you able to run the demo_moveit.launch example? Can you try the solution mentioned here: https://github.com/justagist/panda_simulator/issues/5#issuecomment-628505799

moritzknaust commented 3 years ago

I tried the solution in #5 and now I can run the demo!

Here is exactly what I have done:

comment out the <include ... panda.world> block in demo_moveit.launch

launch all parts separately:

roslaunch panda_gazebo panda_world.launch start_moveit:=false
roslaunch panda_sim_moveit sim_move_group.launch
roslaunch panda_simulator_examples demo_moveit.launch

It seems to be a timing problem, but nothing really important.

And now I also understand how it works. It is a very nice solution to use one action server for all controller types!