Video

Sorry, what to you mean by "picking the planner"?

@@learn-robotics-with-ros like which ones should i choose between RRT, RRTstar of PRM etc... Thanks for replying! I've find a way to work around it, i just added some walls in the planningscene to the side i don't want the robot move to.

@TriNguyen.V.T ok so you added will like collision object. I see... Let me organize a video to overcome this and find way points smarter. Keep in touch ;)

I was able to solve this problem by adding a remap like this to the move_group.launch in the moveit_config pkg: <!-- Start the actual move_group node/action server --> <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)"> <!-- remap namespace --> <remap from="/joint_states" to="/arctos/joint_states"/> Not sure why in the video that he didn't need to add this remap to his move_group. Maybe I missed some step for setting the name space for moveit_config pkg

Difficult to say without giving a look. Have you placed the namespace of your robot? Can you share your repository so I could have a better look on that? Feel free to reach me out via mail at ros.master.ai@gmail.com

I have seen your launch file, it seems that you missed to launch the joint_state_publisher and robot_state_publisher node. Check out your email ;)

Hi! If you want to install 3D camera you can see this tutorial czcams.com/video/uNogrPeamtc/video.html If you want to put 2D camera check out this tutorial czcams.com/video/jgXeIXrckBc/video.html If you want to process the data using OpenCV you can see this playlist Perception for Robotics with OpenCV and Point Cloud Library: czcams.com/play/PLJOHOcnvyOr2LS3-R1IbNSJVgkog-qTvB.html The video are done with another robot, but the concept is the same

@@learn-robotics-with-ros thank you

Basically you would need to create a code in Arduino that convert the message of the topics that ROS i publishing, to the output pin of Arduino. Unfortunately I don't have the Panda robot. But what I could do is to teach you how to control motors with Arduino getting the informations from ROS

@@learn-robotics-with-ros Very nice. There is no problem even if you only move the engines. I will see your content, brother

Si, si sente? 😅

Thank you Alexandre! If you want to see interesting topic like this one, check the master program here: docs.google.com/document/d/1A6SnsVAQhfhBB8jEXjG5XukZ36uH8MTUlqW_5KMpEns/edit?usp=sharing

Were you able to control the robot with Rvoz with MoveIt plugin, interfaced with Gazebo? If yes, then the problem should be the hardware interface. If it doesn't help you, reach me out at ros.master.ai@gmail.com and we can have a look together.

@@learn-robotics-with-ros It works ! Thanks a lot. I was wondering how I would get the gripper to open and close on the real robot. Does Rviz do that ?

Good point Nan! I am going to do a tutorial for that! There is a Gazebo plugins specific for that!

you would need to add those barrier as collision object in your C++ application. Then the motion planning plugin of MoveIt, should do path planning accordingly

If it is shaking, most likely is because the PID values of your joints are not properly tuned. Check out the palylist about ROS control. This would be the case if you have setup effort_controllers as hardware interface. If you need some help in your specific project/industrial application, feel free to book a call with me with this link and we can have a look together: calendly.com/ros-master-ai/30min

Hi! It seems that you have a problem in spawn your robot in gazebo, so you will need to put the Gazebo plugin and create a launch file where you can command your robot with Rviz and see in Gazebo the behaviour. If you follow the video in ROS1 noetic, there should not be a problem. Anyhow, you can book a free call with me through this link and then if you want we could have a look together: calendly.com/ros-master-ai/30min

Thank you! I am happy to hear that ;) I am preparing an online program for becoming a Robotics Software Engineer for industrial application, if you enjoy these videos, you will love the program for sure! If you are interested in moving forward, feel free to check this out: docs.google.com/document/d/1A6SnsVAQhfhBB8jEXjG5XukZ36uH8MTUlqW_5KMpEns/edit?usp=drivesdk

Hi! You could use tool in moveit setup assistant for configuring the ros_controller.yaml. Main problem is that if could not configure the namespace of your controller, so if in the launch file you have setup the controller manager with the namespace /cobot (for example), the moveit controller could not "interface" with the controllers setup in Gazebo. So you could not command your robot in simulation (or real world) with moveit. If you look on my playlists i made one in ROS controllers. If you want to have a tailor deep dive, feel free to reach me out at ros.master.ai@gmail.com

Hi! I would suggest you to put the moveit configuration package in the src folder of your catkin workspace. The path should be something like that: catkin_ws/src/your_moveit_configuration_package. In the last part of the setup_assistant you can create this new folder and put all the content of the package there. If you will do it you will create automatically a package in the src folder of your catking workspace. In this way, on the terminal you could type: $ roslaunch your_moveit_configuration_package demo.launch

The approach is exactly the same, it change only the syntax from cpp to python, but the msgs, the classes and the object to call are the same.

@@learn-robotics-with-ros Well I'll give it a try, hope it goes well, pray for me because the final project at polytechnic bandung is very confusing, I have the same pick n place scheme using a camera.

The scope of the my video is to give you the instruments to understand What, Why and How you are programming, in order to be able to replicate into your robotic application. If your project involves a camera, remember that I have created a specific tutorial to get the position of the pieces using a Service and code a pick and place application as a client. If you struggle in your project feel free to reach me out at this e-mail: ros.master.ai@gmail.com

Hi! Are you sure that you have launched the rviz node in the launch file with the moveit pluging? <include file= "$(find ur_gripper_moveit_config)/launch/planning_context.launch" > <arg name="load_robot_description" value="false" /> </include> <include file= "$(find ur_gripper_moveit_config)/launch/move_group.launch" > <arg name="publish_monitored_planning_scene" value="true" /> </include> <include file= "$(find ur_gripper_moveit_config)/launch/moveit_rviz.launch" > <arg name="rviz_config" value="$(find ur_gripper_moveit_config)/launch/moveit.rviz" /> </include> If you still have some problems you can book a free call with me here: calendly.com/ros-master-ai/30min

To which launch do I need to add this and I am not using gripper now

This is the launch file that Spawn the robot, the controllers and MoveIt with motion planning plugin github.com/LearnRoboticsWROS/ur_app_youtube/blob/main/launch%2Fspawn_ur5_gripper.launch

Now is rviz is stuck showing intializing while I am launching spawn_ur5_eff_conttoller.launch

Check if you are un-pausing the gazebo environment once it loads. This could be a possible reason for the RViz hangup during initialization.

Hi Tony, this is because (most likely) the controller of the gripper ar not well configured from the controller manager. Check in my repository ur_app_youtube how I have setup the controller manager in the launch file and how I have configured it with the yaml file in the config folder. Feel free to send me your repository to ros.master.ai@gmail.com if you need further help

Hi Tony! Let's clarify the packages: The package ur_application is this one: github.com/LearnRoboticsWROS/ur_app_youtube In this package you find everything for running simulation of UR5 in Gazebo and RViz with MoveIt plugin. Then you have the moveit configuration package: github.com/LearnRoboticsWROS/ur_gripper_moveit_config If you want to test your robot (like pick and place) you can run the nodes that are in this package: github.com/LearnRoboticsWROS/cobot_IK If you want a more deep dive in your application you can book a free call with me and it will be straight forward: calendly.com/ros-master-ai/30min

Thank you

@@learn-robotics-with-ros I also have the same problem even if I just copied all repository. gripper is not stable. can you help me please?

Have you installed the proper mimic library? Most likely the problem is that. Go to my robotiq_description repository and check that in this file there is the proper Gazebo library github.com/LearnRoboticsWROS/robotiq_description/blob/main/urdf%2Frobotiq_85_gripper.transmission.xacro

yes there is: in the display of Rviz go to: MotionPlanning -- Planned Path, and then uncheck the box Show Robot Visual

Hi Donato! you can comment out/cancel the part in the CMakeList.txt at the beginning in find_package(position tracker) and in the file package.xml cancel all the tags realted to position_tracker. Or if you prefere use the position tracker service that I have created for detecting the object position, you can clone the package here: github.com/LearnRoboticsWROS/position_tracker

Yes, I am using MoveIt and its motion planning to code Inverse kinematics.

Hi Donato! You can find the package in this repository github.com/LearnRoboticsWROS/ur_app_youtube To let you know: ur_application is the package where I test, the ur_app_youtube is the one that I create during the video tutorial. They are the same, the ur_app_youtube is much more clean!

@Tony Stark Hi Tony! Let's clarify the packages: The package ur_application is this one: github.com/LearnRoboticsWROS/ur_app_youtube In this package you find everything for running simulation of UR5 in Gazebo and RViz with MoveIt plugin. Then you have the moveit configuration package: github.com/LearnRoboticsWROS/ur_gripper_moveit_config If you want to test your robot (like pick and place) you can run the nodes that are in this package: github.com/LearnRoboticsWROS/cobot_IK If you want a more deep dive in your application you can book a free call with me and it will be straight forward: calendly.com/ros-master-ai/30min

Hi Jose! The purpose of my videos is to give you the instruments for knowing how to program robotics by yourself, that's why in every video I insist in What, Why and How I do a certain thing. This is the key to become a Robotics Software Engineer, rather than search informations on Internet! If you want you can book a call with me for talking about your objectives in robotics calendly.com/ros-master-ai/30min

Yes! Is in the plan! I can anticipate you that the approach would me the same: URDF Spawn robot and controller in gazebo using the gazebo ros control plugin Create controllers for the joints (make sure that the same type of controller are put in moveit ros_controllers.yaml file) Run moveit If you have specific needs for your project, feel free to reach me out at ros.master.ai@gmail.com!

Thank you Omar! You can support the channel with a donation: bit.ly/3OcXK6R I would really appreciate that ;) Furthermore, if you want to have a discussion with me about your needs in robotics learning you can book a free talk with me of 15 min for discussing about what are the most valuable content for you: here the link: calendly.com/ros-master-ai/30min

Check out this video, done with kinetic depth camera czcams.com/video/i2m7IE1kG3U/video.html

Furthermore, if you want to discuss your needs in Robotic programming, feel free to book a free call with me! calendly.com/ros-master-ai/30min The scope is to know what type of content gives you more value.