Setting UR10 to Limited Changes Where Arm Goes

[Rud Merriam]

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.

[Rud Merriam]

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

[Rud Merriam]

Solved it...

[Shane Loretz]

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.