- edited description
Setting UR10 to Limited Changes Where Arm Goes
In two terminals run:
rosrun osrf_gear gear.py -f \
`catkin_find --share --first-only osrf_gear`/config/sample.yaml \
src/ur10_tests/m_arms/config/sample_gear_config.yaml --development-mode --visualize-sensor-views
roslaunch ur10_moveit_config move_group.launch arm_namespace:=/ariac/arm1 limited:=true
where sample_gear_config,yaml is a copy of the sample_user_config.yaml from osrf_gear installation.
Add to the sample_gear_config.yaml:
joint_limited_ur10: false # limit ur10 joints to [-pi, pi] instead of [-2pi, 2pi], defaults to false
to limit ur10 movements.
When the line is false everything works correctly. When it is true there is a shift of th arm or workcell. When executing the command
rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \
points: [ \
{time_from_start: {secs: 2}, \
positions: [0.0, 3.14, -1.570, 2.14, 3.24, -1.59, 0.126]}, \
{time_from_start: {secs: 4}, \
positions: [0.0, 3.45, -0.75, 2.14, 3.24, -1.59, 0.126]}, \
{time_from_start: {secs: 6}, \
positions: [0.0, 3.60, -0.538, 2.14, 3.24, -1.59, 0.126]}, \
]}" -1
with 'false' for the UR10 the arm moves to the gasket. When it is 'true' the arm move to between the bins. See the attached screen captures.
Comments (5)
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reporter -
reporter Writing the issue was talking to the "rubber ducky". Soon as I posted it I realized the problem. The rotation for Wrist 1 and the shoulder_pan are greater than Pi so limited. The following works nearly the same:
rostopic pub /ariac/arm1/arm/command trajectory_msgs/JointTrajectory "{joint_names: \ ['linear_arm_actuator_joint', 'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], \ points: [ \ {time_from_start: {secs: 2}, \ positions: [0.15, 3.14, -1.570, 2.14, 3.1, -1.59, 0.126]}, \ {time_from_start: {secs: 4}, \ positions: [-0.35, 3.14, -0.6, 2.3, 3.0, -1.59, 0.126]}, \ {time_from_start: {secs: 6}, \ positions: [-0.35, 3.14, -0.5, 2.3, 3.05, -1.59, 0.126]}, \ ]}" -1
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reporter - changed status to resolved
Solved it...
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reporter - changed title to Setting UR10 to Limited Changes Where Arm Goes
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Thanks for making a very clear report. I've updated the GEAR interface tutorial to use your command in case others try it with a joint limited UR10.
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