Problem using MoveIt API

[pulkit singh tak]

Hi all 
 I am using ROS Indigo with UBUNTU Trusty and using MoveIt to manipulate the robotic arm. I am using Python API for making the robot follow Inverse Kinematics. The problem is after getting to a pose, when I try to shift or rotate the final pose, the robot goes to the home state and from there it moves and not from the previous position. I am using the remapping of joint_states to /my_bot_joint_states in move_group node. Can Someone guide me what is happening here ???


Thanks

[Patrick Goebel]

Hi Pulkit,

Can you send us the snippet of code where you execute the second-to-last
movement and then the rotation?

Thanks,

patrick

--
The Pi Robot Project
http://www.pirobot.org/wordpress

> --

[pulkit singh tak]

Hi here is my script file . Plz find it in the attachment

[Patrick Goebel]

Hello,

It looks like your script is based on the sample moveit_ik_demo.py script described in Chapter 11.20 of ROS By Example Volume 2.  I tested your script using the simulated Pi Robot arm after changing the target pose to be a valid pose for Pi Robot and the script works fine.  So unfortunately I don't have an answer for you.  Perhaps try posting your question to the MoveIt users group and be sure to include your launch file as well.

--patrick

[pulkit singh tak]

Thanks for the reply, But the problem is when running with fake_controllers (as in demo.launch), it is able to perform the specified action but when simulating with ros_control, it is not.  Can someone suggest why this is happening ??

[Patrick Goebel]

HI Pulkit,

I'm not sure what you mean when you say "when simulating with ros_control".  Can you please provide more details?

Thanks,

patrick

-- 
The Pi Robot Project
http://www.pirobot.org/wordpress

[pulkit singh tak]

Hi

Regarding the simulation part, I meant that I was running the code in gazebo simulation (version:2.2.6), i was not using the real hardware, just to make sure the robot is moving as expected. But while using the Python API of MoveIt, the robot always try to execute the next command from the "home" position" and not from the previous position.

[Hemang Chawla]

Hi Pulkit,

You need to update the /joint_states of the robot. If Moveit just generates the plan and you execute it in gazebo. Then moveit doesn't know if the robot has moved, i.e joint states have been updated. And it would plan from the home position.

In your script you need to either publish the updated joint states from gazebo. Or if you are already doing that you need to add the command to python version of setStartStateToCurrentState() after executing the first motion. 

Hope this helps.

[pulkit singh tak]

Hi all
Sorry for the late reply.
The problem is actually solved. I used MoveIt C++ API instead of Python API, Howewer as I am still a beginner, I have not been able to find the difference between the implementation of the two.