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30.0 11.0 58.0 53.12 MB

ROS software for controlling 7-DOF low-cost robotic manipulator

Home Page: http://correll.cs.colorado.edu/clam/

CMake 3.26% Shell 0.36% C++ 92.98% Python 3.07% MATLAB 0.01% HTML 0.12% C 0.19%

clam's Issues

Servo kit no longer available

The servo and bracket kit referenced in the build documentation:

http://correll.cs.colorado.edu/clam/?page_id=110

http://www.roadnarrows.com/store/clam-arm-servo-kit.html

does not seem to work on the road narrows website anymore.

@davetcoleman , I know that you didn't do the hardware but is there a way to list the items that used to be in that kit so we know what we need to build this arm?

Remove tabletop from URDF files

In order to make it easier to re-use the clam URDF files in other robots, refactor the URDF files to remove the tabletop from the base URDF.

ClamGripperCommandAction.h not available

There are several files that #include ClamGripperCommandAction.h.

For example:
/clam_controller/src/clam_gripper_controller_test.cpp

This file is nowhere to be found. In clam_msgs, we only have the following files:
clam_msgs->

action folder
-- ClamGripperCommand.action (& other action files)
CMakeLists.txt
-package.xml

Please include the .h and .cpp files.

Changing Servos

I am copying this conversation from email so that others can use it...

On Thu, Jul 10, 2014 at 7:54 PM, Nicolas Alt wrote:
Hi Dave,
We are planning to buy/build your ClamArm. I noticed that you use both TTL and RS-485 servos. Is there any reason for that choice? After all, you need to install 2 busses on the arm. Why not just use TTL servos?
(I guess you could connect the TTL signal to RS-485 data+, but that would be quite a hack.)

My response:

I did not design original hardware, only the software and controls and website. I agree it is silly that there are different servos on two different busses. However, I looked into it one time and did at the time seem like the best way to keep the cost down. The lower cost servos, used further up the arm kinematic chain, used one bus, while the higher torque servos used a more expensive version that used the other bus.
Let me know if you find a better combination of servos. Thanks!

compile error with packaged rviz_visual_tools

Hello! When compiling the clam arm packages as described here:

http://correll.cs.colorado.edu/clam/?page_id=272

I am getting a compile error:

https://gist.github.com/dylanvaughn/a3e1f3496dc4233e2683

I was able to fix this by using the latest rviz_visual_tools from github instead of the packaged one.

Maybe rviz_visual_tools should be included in the list of packages to get from source in the instructions?

Thanks, Dylan

Motion Plan Fail & All Supplied grasps failed

Dave, hydro code compiles great.

When running the rosrun clam_pick_place simple_pick_place In generateRandomBlock->pick->generateBlockGrasps:
When the following command is called group->pick(blockname,groups),

The local screen prints out the following error information: [ WARN] [1402899684.071986520, 3635.049000000]: Fail: ABORTED: No motion plan found. No execution attempted. [ERROR] [1402899684.072988983, 3635.049000000]: Pick failed. Retrying.
And the screen for the move_group node prints out the following information:

[ INFO] [1402898171.510113447, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 65
[ INFO] [1402898171.510522689, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 66
[ INFO] [1402898171.510957395, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 67
[ INFO] [1402898171.511557305, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 68
[ INFO] [1402898171.512170740, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 69
[ INFO] [1402898171.512693260, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 70
[ INFO] [1402898171.513163095, 3018.285000000]: Manipulation plan 18 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.513606490, 3018.285000000]: Added plan for pipeline 'pick'. Queue is now of size 71
[ INFO] [1402898171.516414635, 3018.285000000]: Manipulation plan 48 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.519546795, 3018.286000000]: Manipulation plan 116 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.520351639, 3018.286000000]: Manipulation plan 49 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.521627772, 3018.286000000]: Manipulation plan 15 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.524077460, 3018.286000000]: Manipulation plan 83 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.524809469, 3018.287000000]: Added plan for pipeline 'pick'. Queue is now of size 70
[ INFO] [1402898171.527565993, 3018.287000000]: Manipulation plan 117 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.530133979, 3018.287000000]: Manipulation plan 120 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.532713972, 3018.287000000]: Manipulation plan 121 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.540810024, 3018.287000000]: Added plan for pipeline 'pick'. Queue is now of size 66
[ INFO] [1402898171.543822698, 3018.287000000]: Added plan for pipeline 'pick'. Queue is now of size 67
[ INFO] [1402898171.546112794, 3018.287000000]: Added plan for pipeline 'pick'. Queue is now of size 68
[ INFO] [1402898171.547592964, 3018.288000000]: Added plan for pipeline 'pick'. Queue is now of size 69
[ INFO] [1402898171.548795139, 3018.289000000]: Manipulation plan 123 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.552173192, 3018.289000000]: Manipulation plan 55 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.552810446, 3018.289000000]: Added plan for pipeline 'pick'. Queue is now of size 70
[ INFO] [1402898171.553449946, 3018.289000000]: Added plan for pipeline 'pick'. Queue is now of size 71
[ INFO] [1402898171.556655231, 3018.289000000]: Manipulation plan 46 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.561195162, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 67
[ INFO] [1402898171.562439568, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 68
[ INFO] [1402898171.563526958, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 69
[ INFO] [1402898171.564483672, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 70
[ INFO] [1402898171.565006702, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 71
[ INFO] [1402898171.565608587, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 72
[ INFO] [1402898171.566047081, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 73
[ INFO] [1402898171.566487800, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 74
[ INFO] [1402898171.567050801, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 75
[ INFO] [1402898171.567888750, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 76
[ INFO] [1402898171.568254289, 3018.290000000]: Added plan for pipeline 'pick'. Queue is now of size 77
[ INFO] [1402898171.569207605, 3018.290000000]: Manipulation plan 54 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.569663584, 3018.290000000]: Manipulation plan 89 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.573508113, 3018.291000000]: Manipulation plan 47 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.574068047, 3018.291000000]: Manipulation plan 88 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.575039525, 3018.291000000]: Added plan for pipeline 'pick'. Queue is now of size 78
[ INFO] [1402898171.575438664, 3018.291000000]: Added plan for pipeline 'pick'. Queue is now of size 79
[ INFO] [1402898171.576310556, 3018.291000000]: Added plan for pipeline 'pick'. Queue is now of size 80
[ INFO] [1402898171.577474264, 3018.291000000]: Added plan for pipeline 'pick'. Queue is now of size 81
[ INFO] [1402898171.578127154, 3018.291000000]: Added plan for pipeline 'pick'. Queue is now of size 82
[ INFO] [1402898171.579925866, 3018.291000000]: Added plan for pipeline 'pick'. Queue is now of size 83
[ INFO] [1402898171.581452426, 3018.292000000]: Added plan for pipeline 'pick'. Queue is now of size 84
[ INFO] [1402898171.582132413, 3018.292000000]: Added plan for pipeline 'pick'. Queue is now of size 85
[ INFO] [1402898171.582664549, 3018.292000000]: Added plan for pipeline 'pick'. Queue is now of size 86
[ INFO] [1402898171.583414975, 3018.292000000]: Added plan for pipeline 'pick'. Queue is now of size 87
[ INFO] [1402898171.584749365, 3018.292000000]: Added plan for pipeline 'pick'. Queue is now of size 88
[ INFO] [1402898171.585859877, 3018.293000000]: Added plan for pipeline 'pick'. Queue is now of size 89
[ INFO] [1402898171.586378713, 3018.293000000]: Added plan for pipeline 'pick'. Queue is now of size 90
[ INFO] [1402898171.587358589, 3018.293000000]: Added plan for pipeline 'pick'. Queue is now of size 91
[ INFO] [1402898171.587798662, 3018.293000000]: Added plan for pipeline 'pick'. Queue is now of size 92
[ INFO] [1402898171.588197611, 3018.293000000]: Added plan for pipeline 'pick'. Queue is now of size 93
[ INFO] [1402898171.589032022, 3018.293000000]: Added plan for pipeline 'pick'. Queue is now of size 94
[ INFO] [1402898171.591565846, 3018.293000000]: Manipulation plan 114 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.594250802, 3018.293000000]: Manipulation plan 21 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.596496448, 3018.294000000]: Manipulation plan 20 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.597226167, 3018.295000000]: Manipulation plan 115 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.597950864, 3018.295000000]: Manipulation plan 13 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.598706838, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 89
[ INFO] [1402898171.599232901, 3018.295000000]: Manipulation plan 12 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.599594450, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 90
[ INFO] [1402898171.599905555, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 91
[ INFO] [1402898171.600184553, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 92
[ INFO] [1402898171.600497828, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 93
[ INFO] [1402898171.600746391, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 94
[ INFO] [1402898171.601024376, 3018.295000000]: Added plan for pipeline 'pick'. Queue is now of size 95
[ INFO] [1402898171.602302248, 3018.296000000]: Added plan for pipeline 'pick'. Queue is now of size 95
[ INFO] [1402898171.602722000, 3018.296000000]: Added plan for pipeline 'pick'. Queue is now of size 96
[ INFO] [1402898171.603198510, 3018.296000000]: Added plan for pipeline 'pick'. Queue is now of size 97
[ INFO] [1402898171.603631657, 3018.296000000]: Added plan for pipeline 'pick'. Queue is now of size 98
[ INFO] [1402898171.608499536, 3018.296000000]: Manipulation plan 81 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.610859771, 3018.296000000]: Manipulation plan 91 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.613468625, 3018.296000000]: Manipulation plan 90 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.615397963, 3018.297000000]: Manipulation plan 56 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.617564830, 3018.297000000]: Manipulation plan 125 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.618368717, 3018.297000000]: Manipulation plan 80 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.620249175, 3018.297000000]: Manipulation plan 22 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.622143554, 3018.298000000]: Manipulation plan 23 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.623738790, 3018.298000000]: Manipulation plan 124 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.625541647, 3018.298000000]: Manipulation plan 122 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.626917871, 3018.298000000]: Manipulation plan 57 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.627705582, 3018.298000000]: Manipulation plan 11 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.629395467, 3018.298000000]: Manipulation plan 79 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.629966983, 3018.298000000]: Manipulation plan 44 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.632204319, 3018.299000000]: Manipulation plan 113 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.633206060, 3018.299000000]: Manipulation plan 78 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.634816581, 3018.299000000]: Manipulation plan 10 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.637572984, 3018.300000000]: Manipulation plan 59 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.639150099, 3018.300000000]: Manipulation plan 112 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.640383289, 3018.300000000]: Manipulation plan 127 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.641514749, 3018.300000000]: Manipulation plan 24 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.642634693, 3018.300000000]: Manipulation plan 45 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.644514554, 3018.300000000]: Manipulation plan 126 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.648927146, 3018.301000000]: Manipulation plan 92 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.652186244, 3018.301000000]: Manipulation plan 110 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.654584881, 3018.302000000]: Manipulation plan 25 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.657003433, 3018.302000000]: Manipulation plan 76 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.657883814, 3018.302000000]: Manipulation plan 58 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.660164820, 3018.302000000]: Manipulation plan 77 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.662493704, 3018.302000000]: Manipulation plan 42 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.664987061, 3018.302000000]: Manipulation plan 43 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.669191361, 3018.303000000]: Manipulation plan 8 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.671246835, 3018.303000000]: Manipulation plan 95 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.673771172, 3018.303000000]: Manipulation plan 94 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.674333717, 3018.303000000]: Manipulation plan 93 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.677341255, 3018.304000000]: Manipulation plan 111 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.678824913, 3018.304000000]: Manipulation plan 9 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.682198064, 3018.304000000]: Manipulation plan 108 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.683564035, 3018.304000000]: Manipulation plan 109 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.684721053, 3018.304000000]: Manipulation plan 61 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.687571830, 3018.304000000]: Manipulation plan 27 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.691583714, 3018.304000000]: Manipulation plan 74 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.696803832, 3018.305000000]: Manipulation plan 75 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.700051389, 3018.305000000]: Manipulation plan 128 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.703621561, 3018.305000000]: Manipulation plan 26 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.704992073, 3018.305000000]: Manipulation plan 129 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.709647811, 3018.306000000]: Manipulation plan 41 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.710211865, 3018.306000000]: Manipulation plan 40 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.712134408, 3018.306000000]: Manipulation plan 6 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.714337301, 3018.306000000]: Manipulation plan 7 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.716098709, 3018.306000000]: Manipulation plan 60 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.717709806, 3018.307000000]: Manipulation plan 107 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.718554822, 3018.307000000]: Manipulation plan 106 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.720397509, 3018.307000000]: Manipulation plan 38 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.723329199, 3018.307000000]: Manipulation plan 39 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.727613290, 3018.308000000]: Manipulation plan 4 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.729344449, 3018.308000000]: Manipulation plan 5 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.731591187, 3018.308000000]: Manipulation plan 72 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.737289023, 3018.309000000]: Manipulation plan 62 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.738527525, 3018.309000000]: Manipulation plan 63 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.739615266, 3018.310000000]: Manipulation plan 73 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.743300785, 3018.310000000]: Manipulation plan 97 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.746677229, 3018.310000000]: Manipulation plan 96 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.749080296, 3018.310000000]: Manipulation plan 131 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.751926824, 3018.311000000]: Manipulation plan 130 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.753059842, 3018.311000000]: Manipulation plan 28 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.758558982, 3018.312000000]: Manipulation plan 2 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.760155170, 3018.312000000]: Manipulation plan 29 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.762684830, 3018.312000000]: Manipulation plan 104 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.770393263, 3018.313000000]: Manipulation plan 36 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.773197910, 3018.313000000]: Manipulation plan 37 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.782785854, 3018.314000000]: Manipulation plan 105 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.783915765, 3018.314000000]: Manipulation plan 3 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.787955994, 3018.315000000]: Manipulation plan 71 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.791777411, 3018.315000000]: Manipulation plan 133 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.794703489, 3018.315000000]: Manipulation plan 31 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.799920880, 3018.316000000]: Manipulation plan 99 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.800925457, 3018.316000000]: Manipulation plan 70 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.804374416, 3018.317000000]: Manipulation plan 30 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.805297202, 3018.317000000]: Manipulation plan 132 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.807261179, 3018.317000000]: Manipulation plan 64 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.808711467, 3018.317000000]: Manipulation plan 65 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.811560820, 3018.318000000]: Manipulation plan 135 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.812316413, 3018.318000000]: Manipulation plan 68 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.813971179, 3018.318000000]: Manipulation plan 103 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.816498879, 3018.318000000]: Manipulation plan 101 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.818491726, 3018.318000000]: Manipulation plan 102 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.824073188, 3018.318000000]: Manipulation plan 134 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.829764309, 3018.319000000]: Manipulation plan 69 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.833138753, 3018.320000000]: Manipulation plan 98 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.837351718, 3018.320000000]: Manipulation plan 100 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.843053593, 3018.320000000]: Manipulation plan 66 failed at stage 'reachable & valid pose filter' on thread 1
[ INFO] [1402898171.844758843, 3018.320000000]: Manipulation plan 35 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.849109310, 3018.321000000]: Manipulation plan 0 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.850508882, 3018.321000000]: Manipulation plan 67 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.852482396, 3018.321000000]: Manipulation plan 32 failed at stage 'reachable & valid pose filter' on thread 0
[ INFO] [1402898171.853267941, 3018.321000000]: Manipulation plan 33 failed at stage 'reachable & valid pose filter' on thread 3
[ INFO] [1402898171.854225186, 3018.321000000]: Manipulation plan 1 failed at stage 'reachable & valid pose filter' on thread 2
[ INFO] [1402898171.854915401, 3018.322000000]: Manipulation plan 34 failed at stage 'reachable & valid pose filter' on thread 1
[Thread 0x7fffbc98c700 (LWP 15002) exited]
[Thread 0x7fffaeffd700 (LWP 15005) exited]
[ WARN] [1402898171.909609234, 3018.327000000]: All supplied grasps failed. Retrying last grasp in verbose mode.
[Thread 0x7fffaf7fe700 (LWP 15004) exited]
[Thread 0x7fffaffff700 (LWP 15003) exited]
[New Thread 0x7fffaeffd700 (LWP 15006)]
[New Thread 0x7fffaf7fe700 (LWP 15007)]
[New Thread 0x7fffaffff700 (LWP 15008)]
[New Thread 0x7fffbc98c700 (LWP 15009)]
[ INFO] [1402898171.952536275, 3018.335000000]: Re-added last failed plan for pipeline 'pick'. Queue is now of size 1
[ INFO] [1402898171.955063028, 3018.339000000]: Found a contact between 'Block1' (type 'Object') and 'l_gripper_pincher_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored.
[ INFO] [1402898171.956387976, 3018.339000000]: Collision checking is considered complete (collision was found and 0 contacts are stored)
[ INFO] [1402898171.957153642, 3018.339000000]: Manipulation plan 34 failed at stage 'reachable & valid pose filter' on thread 2
[Thread 0x7fffbc98c700 (LWP 15009) exited]
[Thread 0x7fffaf7fe700 (LWP 15007) exited]
[ INFO] [1402898171.980716744, 3018.339000000]: Pickup planning completed after 0.806943 seconds
[Thread 0x7fffaffff700 (LWP 15008) exited]
[Thread 0x7fffaeffd700 (LWP 15006) exited]

Would this be related to the collision between Block1 and the l_gripper_finger_link or could it be related to approximate kinematics as mentioned in: https://groups.google.com/forum/#!searchin/moveit-users/no$20motion$20plan$20found/moveit-users/cup7Z-1bug0/ivp9a2ZNsZcJ ?

There is a very similar problem mentioned in the moveit group (https://groups.google.com/forum/#!searchin/moveit-users/no$20motion$20plan$20found/moveit-users/_M0mf-R7AvI/cV4v755bwEQJ) but I have not yet figured it out.

Not working with latest version of MoveIt!

No "loadRobotGraspData" called in "simple pick place" demo hydro

Hi Dave,

I am running movit and pick_place on ROS Hydro.

Currently, when Itry to run the pick and place demo, I get an error message stating "no motion planning found".

When I compare the clam_pick_place/src/simple_pick_place.cpp in hydro and groovy, I saw that the "loadRobotGraspData" function is not called in the hydro version.

For this reason, grasp_data_ is not initialized and then pick or place cannot compute any motion plan. I saw that for the Hydro version, you deleted this call in the following commit: c341a81)

I also found that in hydro, loadRobotGraspData became a part of the moveit API and it is now a method of grasp_data_ .

It seems the functionality is the same as in Groovy. Except that in Hydro, the grasp data values are assigned through a yaml file while in groovy they are assigned within the code.

I tried to fix this. So I modified simple_pick_place.cpp by adding grasp_data_. loadRobotGraspData(nh, EE_GROUP) before the line moveit_simple_grasps_.reset. I also added a config file like the following one: reem_grasp_data.yaml and baxter_grasp_data.yaml and finally loaded through roslaunch.

My code currently works, but the blocks are picked up by the wrist. I think the clam gripper posture is incorrect. I think the error maybe in my config file.

Here are my changes to "simple_pick_place.cpp" :

  if(!grasp_data_.loadRobotGraspData(nh, EE_GROUP))
  {
      ROS_ERROR_STREAM_NAMED("simple_pick_place", "Cannot load end_effector");
      return 1;
  }
  // ---------------------------------------------------------------------------------------------
  // Load grasp generator
  moveit_simple_grasps_.reset(new moveit_simple_grasps::SimpleGrasps(rviz_tools_));

And here is my launch file:

<launch>

  <arg name="debug" default="true"/>
  <rosparam command="load" file="$(find clam_pick_place)/config/clam_grasp_data.yaml"/>

  <group>
    <node name="$(anon simple_pick_place)" type="simple_pick_place" pkg="clam_pick_place">
    </node>   
  </group>

</launch>

And here is the yaml file :

base_link: 'base_link'

gripper_group:
  end_effector_name: 'gripper_group'
  joints : ['gripper_finger_joint']
  pregrasp_posture : [0.0]
  grasp_posture : [1.0]
  end_effector_parent_link : 'gripper_roll_link'
  // what should the following be ?
  pregrasp_time_from_start : 4.0
  grasp_time_from_start : 4.0
  grasp_pose_to_eef : [0,0,0]

I would appreciate any feedback on this. We almost got this working!

Need graps config file

grasp_data_.loadRobotGraspData has not been called. The old loadRobotGraspData has been remove in commit c341a81, but no new one added.

From the example in https://github.com/davetcoleman/moveit_simple_grasps/blob/b8eef918d842309d84c028065a5fa0476a88848a/src/simple_grasps_test.cpp line 92 and https://github.com/davetcoleman/moveit_simple_grasps/blob/b8eef918d842309d84c028065a5fa0476a88848a/config/baxter_grasp_data.yaml, does that it need a end_effector yaml config file and run the script by roslaunch and load such yaml as param ?

Enable switchable grippers

In order to make it easier to use different grippers with the ClamArm, refactor URDF files to allow easy switching of grippers.

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