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ros-naoqi / nao_virtual

all tools to simulate nao robot
Apache License 2.0
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Error execution in planned path using moveit #2

Closed edgarriba closed 9 years ago

edgarriba commented 9 years ago

Using moveit with gazebo I get an error when I execute the planned path. I solved the error doing the following:

In nao_gazebo_plugin_H25.launch line 19 :

Before <!-- Call Nao Robot Trajectory Controller --> <!-- <include file="$(find nao_control)/launch/nao_control_trajectory.launch"/> --> <include file="$(find nao_control)/launch/nao_control_position.launch"/>

After <!-- Call Nao Robot Trajectory Controller --> <include file="$(find nao_control)/launch/nao_control_trajectory.launch"/> <!-- <include file="$(find nao_control)/launch/nao_control_position.launch"/> -->

mikaelarguedas commented 9 years ago

Yes you're right. The position controllers were made to command each joint independently (PID tuning)

Moveit is doing planning for a given kinematic chain so it can only work with trajectories for a set of joint.

Thanks for pointing it.

2014-10-17 0:39 GMT+02:00 Edgar Riba notifications@github.com:

Using moveit with gazebo I get an error when I execute the planned path. I solved the error doing the following:

In nao_gazebo_plugin_H25.launch line 19 :

Before

After

— Reply to this email directly or view it on GitHub https://github.com/ros-nao/nao_virtual/issues/2.

mikaelarguedas commented 9 years ago

I updated the package.xml, this problem shoudn't happen anymore.

Don't hesitate to Pull Request when you see this kind of mistakes.

Cheers,

Mikael

2014-10-17 8:38 GMT+02:00 Mikael Arguedas mikael.arguedas@gmail.com:

Yes you're right. The position controllers were made to command each joint independently (PID tuning)

Moveit is doing planning for a given kinematic chain so it can only work with trajectories for a set of joint.

Thanks for pointing it.

2014-10-17 0:39 GMT+02:00 Edgar Riba notifications@github.com:

Using moveit with gazebo I get an error when I execute the planned path. I solved the error doing the following:

In nao_gazebo_plugin_H25.launch line 19 :

Before

After

— Reply to this email directly or view it on GitHub https://github.com/ros-nao/nao_virtual/issues/2.

vrabaud commented 9 years ago

solved