issue in “reuleaux"

[zjy0818]

Hello, there are several questions about reuleaux that I would like to ask:

1. I use Ubuntu16.04, ROS Kinetic, my robot has two 7-DOF arm robots, I use your kinetic-branch, https://github.com/jontromanab/reuleaux/tree/kinetic-devel I catkin_make it ok，but I getting the following error when loading the map: HDF5-DIAG: Error detected in HDF5 (1.8.16) thread 140584366880640:   #000: ../../../src/H5D.c line 460 in H5Dget_space(): not a dataset     Major: Invalid arguments to routine     Minor: Inappropriate type HDF5-DIAG: Error detected in HDF5 (1.8.16) thread 140584366880640:   #000: ../../../src/H5S.c line 791 in H5Sget_simple_extent_ndims(): not a dataspace     Major: Invalid arguments to routine     Minor: Inappropriate type HDF5-DIAG: Error detected in HDF5 (1.8.16) thread 140584366880640:   #000: ../../../src/H5S.c line 883 in H5Sget_simple_extent_dims(): not a dataspace     Major: Invalid arguments to routine     Minor: Inappropriate type Bus error (core dumped)

IK-FAST can also solve the inverse kinematics of the 7-DOF manipulator using analytical methods, and I have been using IK-FAST until now, so I don't think it is a problem with my robot. libhdf5-dev is already the newest version (1.8.16+docs-4ubuntu1.1)

2.I try to use here https://github.com/jontromanab/reuleaux_moveit, but I don't know how to use this package. Can you provide a detailed tutorial? Thank you very much.

[jontromanab]

@zjy0818 Starting from the visible error, it seems the database never got created. It is due to the fact that Reuleax can only support 6DOF robots for now. I did not get time to add support for 7DOF. Yes, IK-FAST supports more than 6DOF, but we have to define the free index. It was just never implemented. You are welcome to implement it if you are interested. I will more than happy to help.

About using the reuleaux_moveit, I cannot guarantee proper support for it, as the package was created for a very experimental reason. You are also welcome to work on that, if you like. All the help will surely be provided.

Thank you. Sorry for the trouble.

[zjy0818]

@jontromanab Thank you for your reply.

I read your paper, which says that we can use KDL, reuleaux_moveit is the KDL used? I see this package has been successfully applied to PR2 robots. Now I want to try it on my dual-arm robots, Because the PR2 robot is also a 7 DOF dual-arm robot. But I don't know how to use reuleaux_moveit package to create and load maps， it looks different from reuleax. Can you tell me the steps of this package?

Thank you very much indeed

[jontromanab]

yes, Reuleaux_moveit generally uses KDL which is really slow. We can use ikfast with reuleax_moveit too. We had implemented reuleaux on lots of robots (not with two arm though) It will not be suitable to discuss about another package here. Please shoot me a mail. I can surely help you.

[zjy0818]

@jontromanab Hello, the mail has been sent to your mailbox jontromanab.abhijit@gmail.com my email address 547080770@qq.com

[jkw0701]

Hello, I'm trying to make reachability map of 7dof manipulator, PANDA from FRANKA EMIKA.

Is it still impossible to create reachability map of 7dof manipulator?

Any commit is updated or sth?

[JuliusSustarevas]

@jkw0701 I'm bit stuck doing the same. Have you perhaps resolved the problem?