-
Notifications
You must be signed in to change notification settings - Fork 196
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Question of move_to_joint.py in Motoman_driver #294
Comments
I would refer you to #229. That links to my work where I've a skeleton of an action server client that is probably what you are looking for. The rosbag approach in I would also recommend you take a look at some motion planning frameworks, such as MoveIt, Descartes, MoveIt's MTC or even Tesseract/TrajOpt. If you're only interested in hard-coding joint trajectory points, I would suggest generating an INFORM job and pushing that to the controller in some way. Using (Moto)ROS for hard-coded trajectories is not something I would think the most efficient. It is possible though. |
As I've noted in #229 (comment), that script was not tested too much, so you may run into some minor issues. I see now that I've not actually (deep) cloned the trajectory pts, so no motion may result (or only a single motion, instead of three). The approach shown would still be valid though. |
Thanks for your reply, the code in #229 seems works. Yes, I agree we can use some motion planning framework and we are now using MoveIt. But the connection has some issue and it seems we didn't set the controller right. So we need to read more about how to set the MoveIt controller. |
Hi all,
I am planning to set groups of waypoints for my Motoman GP8 robot (YRC1000 Mirco with smart pendant). And I just start look at the python file.
In that python code, what you get is form a rosbag
motoman/motoman_driver/src/move_to_joint.py
Lines 80 to 89 in 197d2f8
And I have read the rosbag tutorial about how to record a rosbag.http://wiki.ros.org/rosbag/Tutorials/Recording%20and%20playing%20back%20data
But in this code, you set waypoint when you run the python script, and you didn't generate or save the joint in a rosbag file. Cause what I want to do is set a group of waypoint and let the robot following these points. In my understanding, I need to set the directory with where you set the rosbag and run the waypoint in rosbag step by step. But I am not sure it's right or not.
Please correct me if my understanding is wrong.
Thanks,
Gloria
The text was updated successfully, but these errors were encountered: