dfki-ni / mobipick Goto Github PK

The pose format with the quaternion coordinates in order (w, x, y, z) continues to cause failures for Mobipick applications. An essential problem is that its float[7] format is easily converted into a geometry_msgs.msg.Pose the wrong way (see http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Quaternion.html) without it being noticed. The comment in the config file obviously does not suffice.

I forgot why exactly why we still keep it this way (reason was like: "it is used somewhere like this"), so I'll adjust our mobipick_labs code once more to this pose format, this time in the symbolic_fact_generation. Again, I recommend to switch to the ROS format. We can even use the format ([px, py, pz], [qx, qy, qz, qw]) to be sure to break things where updates are needed.

For your information, @mintar, @sebastianstock, @marcvinci.

1. We are using an Intel Realsense camera, so changing it from "astra" to something more generic would be good.
2. It's not a "gripper" so the name is misleading.

"main_camera" or "main_cam" would probably be better. It could also be split up some more so the image topic can for example be main_camera/rgb/image_rawinstead of gripper_astra/rgb/image_raw while the tf-frame prefix can be something like "camera_mount" so it would be camera_mount_rgb_optical_frame instead of gripper_astra_rgb_optical_frame.

#5 contains references to the following file:

mobipick_gazebo/launch/worlds/cic_tables_spawn_sim_objects.launch

However, this file is still missing.

I have error because I don't have 'ur5_macro.xacro' file in ur_description.
If this file is made by you, can you share this file also?
I want to test 'pick and place example'.

No such file or directory: /home/ait/ros_catkinws/src/universal_robot/ur_description/urdf/inc/ur5_macro.xacro
when processing file: /home/ait/ros_catkinws/src/mobipick/mobipick_description/urdf/mobipick/mobipick_v1_model.urdf.xacro

Hi there!
Thanks for sharing your project! It looks amazing!
Hope, you can help to overcome the following error at the installation stage:

running script install-deps.sh I've got the following error:

Exception caught during install: Error processing 'astra_camera' : [astra_camera] Checkout of https://github.com/orbbec/ros_astra_camera.git version master into /misis/mir_ws/src/astra_camera failed.
ERROR in config: Error processing 'astra_camera' : [astra_camera] Checkout of https://github.com/orbbec/ros_astra_camera.git version master into /misis/mir_ws/src/astra_camera failed.

I use Ubuntu 20.04, ROS-noetic.

Thanks for your help.

Best regards,
Dmitrii

Hello,

I'm a master's student currently working on a similar setup as your Mobipick robot - MiR100 base with the UR5e robot arm and a Robotiq 2f85 gripper.
I'm currently working on a unified UR5e & Robotiq 2f85 robot description. I have successfully created the unified xacro that I can use in simulation however, I'm having trouble with gripper joint states when using the real robot and was hoping for your help.

I'm using the Universal Robots ROS driver and this Robotiq gripper package.

My gripper is connected directly to the robot flange and I can successfully communicate with the gripper over RTU using Robotiq2FGripperRtuNode.py) from the robotiq_2f_gripper_control package. But no node publishes the gripper joint states, only gripper status. Since there are no gripper joint states the tf transforms between the robot and the gripper don't exist when launching the ur_robot_driver.

I saw that you have a gripper joint state publisher but it looks like it only publishes the state of the joint that is controlled? By that I mean the joint we control to open/close the gripper. Is advertising that one joint enough to get the relative position of all other gripper joints? Or am I missing something?
I'm also a bit confused why you use the joint_state_publisher here in the bringup.

Any other advice on how to approach gripper joint states is greatly appreciated.

Best regards,
Jan