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Is this still an attempt? #84

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AltinayGrass opened this issue Nov 5, 2022 · 3 comments
Open

Is this still an attempt? #84

AltinayGrass opened this issue Nov 5, 2022 · 3 comments

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@AltinayGrass
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If not. I have a issue.
[ INFO] [1667678533.447750440]: Loading robot model 'SR80'...
[ INFO] [1667678533.483845187]: MoveItOPWKinematicsPlugin initializing
[ INFO] [1667678533.484084543]: Dimension planning group 'manipulator': 6. Active Joints Models: 6. Mimic Joint Models: 0
[ INFO] [1667678533.484296375]: Getting kinematic parameters from parameter server.
[ INFO] [1667678533.487320942]: Loaded parameters for ik solver:
Distances: [0.175 -0.206 0 0.63 0.905 1.02 0.25]
Offsets = [0 0 -1.5708 0 0 0 ]
Sign_corrections = [1 -1 -1 1 -1 1 ]
[ERROR] [1667678533.489210980]: Pose orientation error on element (1, 1).
[ERROR] [1667678533.489230847]: opw: 1.000000, moveit: -1.000000.
[ERROR] [1667678533.489239844]: Pose orientation error on element (2, 0).
[ERROR] [1667678533.489247963]: opw: -1.000000, moveit: 1.000000.
[ERROR] [1667678533.489259009]: The OPW parameters loaded from the parameter server appear to be incorrect (self-test failed for '0 0 0 0 0 0').
I tried all combination around sign corrections but I will not solve the orientation error.
Should I change URDF definition ?

@simonschmeisser
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We made the self-check a two step process to be able to debug a mismatch between opw parameters and URDF more easily.

First all 0 is checked and it fails here. Sign corrections do not have any influence for the all-0 position. You don't have an error about a pose position so your distances and most of the offsets appear to be correct. Maybe your last frame is oriented differently? Or has some joint offset?

Do you have a link to the robot and it's URDF?

@AltinayGrass
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AltinayGrass commented Nov 5, 2022 via email

@AltinayGrass
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AltinayGrass commented Nov 6, 2022 via email

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