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peter posted a new activity comment 6 years, 7 months ago
The arm angle a computed through inverse kinamatics i just select the position of the gripper. The settings are out of the box as are the planners I have only had the arm working for a week now still lots to try and lots to learn. With ROS every link and joint is measured to the base link which is localized on the map. So if the object is at X,Y,Z…[Read more]
peter posted an update 6 years, 7 months ago
Robbie’s arm moving with ROS moveit
hey, very interesting! Surprising how you allow the robot to do very unhuman movements. With ROS moveit you also can get the robot to know where he stands in a given space before he makes the movements?
I’m editing one now will upload it tonight
whooo ooo, cool!
They are the same when, you are happy with the result then press run and the arm will move
Would love to see a video of that!
Robbie now runs ROS moveIT for arm navigation
EHEHE! Very nice! Have you been able to also launch the robot after the simulation was done?
peter posted an update 6 years, 8 months ago
Navigating is getting better all the time here we are using ROS smach to go via 2 way points and arrive at a 3rd point. Later we will add arm movement so we can get a object
Oh I wish my would be on wheels too, why do I have to make legs!!
peter posted a new activity comment 6 years, 8 months ago
Yes using the action server i can set goals when the goal is reached the next action is preformed ie next location or get the cup, open the door. some of these i have already
Robbie’s first autonomous navigation through a gap
You kick ass.
Nice work man.
What kind of accu did you use?
Very nice! Can the road map be more complex with different locations?
peter posted a new activity comment 6 years, 11 months ago
He can navigate to a location that you select with a accuracy of 200mm he needs to be calibrated and localization needs to be tuned before he can leave the room he\’s action servers listen for a location when a location is received he goes there
Really great! 200mm is quite accurate. It must be surprising to see. I was thinking, if you would add the covers on the biceps of the arms, you will gain in strength and the arms won’t wobble during arm movements.
peter posted an update 6 years, 12 months ago
Robbie driving with the new base
I like it !!!
Fantastic! Is he finding is own way through the house? From what I gathered on your blog it seems to be.
He can navigate to a location that you select with a accuracy of 200mm he needs to be calibrated and localization needs to be tuned before he can leave the room he’s action servers listen for a location when a location is received he goes there