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How to use the lk solver of ros in the pick and placeproject dome to control the end pose of niryo-o

Discussion in 'Robotics' started by wh1997, Jan 4, 2022.

  1. wh1997

    wh1997

    Joined:
    Oct 27, 2021
    Posts:
    9
    我想控制拾取和放置圆顶中机械臂的结束姿势。我想在ros中使用求解器。演示中是否有用于控制结束姿势的 gui？我该怎么做？
     
    wh1997, Jan 4, 2022
    #1

  2. wh1997

    wh1997

    Joined:
    Oct 27, 2021
    Posts:
    9
    I want to control the ending posture of the robotic arm in the pick and place dome. I want to use solver in ros. Is there a gui for controlling the ending posture in the demo? what should I do?
     
    wh1997, Jan 5, 2022
    #2

  3. amanda-unity

    amanda-unity

    Unity Technologies

    Joined:
    May 29, 2020
    Posts:
    19
    Thanks for checking out the Pick-and-Place demo! The functionality of this demo sends a known location--the target cube's pose--to MoveIt for motion planning on the ROS side.

    There is no built-in GUI for controlling this target point, but you can modify the scripts such that it includes a GUI field for the desired ending posture, and send a MoverServiceResponse using the GUI's value instead of the target cube's pose. You can refer to the existing PublishJoints() function for reference, swapping out the 
    request.pick_pose
    with your desired value.
     
    amanda-unity, Jan 6, 2022
    #3
    wh1997 likes this.

  4. wh1997

    wh1997

    Joined:
    Oct 27, 2021
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    Thank you for your answer, which solved my confusion. By the way, can the end point of a given robotic arm be all done in the c# script of unity? And it doesn’t need to be set on the ros side,Once I give the target pose, the ros side will plan the movement to complete， right?
     
    wh1997, Jan 7, 2022
    #4

  5. amanda-unity

    amanda-unity

    Unity Technologies

    Joined:
    May 29, 2020
    Posts:
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    Due to the way the project is set up--yes, you can set the end point of the robotic arm in the C# scripts on the Unity side.

    For clarity, setting the target pose in the C# script is creating and sending a custom ROS service request message. The service response is constructed in mover.py--you can see here how the request is passed to MoveIt for trajectory planning.
     
    amanda-unity, Jan 7, 2022
    #5