Launch Error

[yanwangoakland]

Hello,

I cloned moveit_grasp packages from source for kinetic_devel version and the code compile successfully. But when I launch the command "roslaunch moveit_grasps test_grasp_generator.launch"
There is an error here

Can you give me some suggestion?

My operating system is Ubuntu 16.04, ROS version is kinetic.

I just installed the Baxter SDK and Simulator from Rethink Robotic official site, I want to know it is necessary to install baxter_cpp in order to launch the moveit_grasps package?

Thank You!

[Ridhwanluthra]

The kinetic-devel branch has a couple places where it is hardcoded for jaco robot.
you can refer to this issue which mentions what all you would need to update to get it working with your robot.
you can also take a look at this PR where I am making an effort to generalise it.

[yanwangoakland]

Thank you so much!

I will try your method.

[yanwangoakland]

@Ridhwanluthra
Hi, I'm very appreciate to your response for my problem. But I have some problems about your method.

1. As you said, I need to update my robot to get the code working base on this issue. Can you tell me some detail information how should I update my robot? The robot model I used is baxter with electrical grippers.

2. I found you have changed many files in this package. I want to know whether I need change all these files in my computer follow your work?

3. I do not know whether you install the baxter_cpp . I just installed the Baxter SDK and Simulator from Rethink Robotic official site, I want to know it is necessary to install baxter_cpp in order to launch the moveit_grasps package?

4. I launched the command "roslaunch moveit_grasps rviz.launch", it launched successfully, but I have see nothing in RVIZ.

Can you give me some suggestion?

Thank You!

[Ridhwanluthra]

1. As you said, I need to update my robot to get the code working base on this issue. Can you tell me some detail information how should I update my robot? The robot model I used is baxter with electrical grippers.

I am not entirely sure if I can give you specific baxter info I will give you general details on the generalisations needed.
in grasp_data:

• you need to update the name of joint here
• You need to create a way to set joint positions using distance between fingers here

in grasp_generator:

• just manually set the pre grasp approach and post-retreat for the kind of grasps you wanna make.

in grasp_generator test:

• you need to set ideal pose for the grasp you wanna make.

In my code, I have generalised everything except joint position setting.
if you plan to you use that, it can only has the grasp generator working.

I found you have changed many files in this package. I want to know whether I need change all these files in my computer follow your work?

No, you just need to change what i mentioned above and then maybe if there is something wrong. keep in mind this is a devel package.

I do not know whether you install the baxter_cpp . I just installed the Baxter SDK and Simulator from Rethink Robotic official site, I want to know it is necessary to install baxter_cpp in order to launch the moveit_grasps package?

I am not sure, but as far as MoveIt! is concerned it only needs the baxter_moveit_config. Also, from a small look at baxter_cpp I think that package implements the complete pick place functionality using this or some other generator.

I launched the command "roslaunch moveit_grasps rviz.launch", it launched successfully, but I have see nothing in RVIZ.

That is because that launch is responsible to only launch rviz and set up some static transforms

I hope this clears things up.
feel free to get back

[yanwangoakland]

@Ridhwanluthra

Hi, I really appreciate your reponse. It include so many detail information what I really need now. I beleve it can give me very big help.

Thank you for your time. I really appreciate it.

[davetcoleman]

@mlautman and just now myself have cleaned up and tested the demos. Closing this old issue.