[Documentation] [TitleIndex] [WordIndex

Note: The following tutorial was designed for the Electric distribution of ROS and will not work with Diamondback.. This tutorial assumes that you have completed the previous tutorials: Running the Arm Navigation Wizard.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Planning Components Visualizer

Description: This tutorial explains the planning components visualizer in the move_arm package, and how it may be used to interact with a robot.

Keywords: planning visualizer move arm ros navigation rviz electric

Tutorial Level: INTERMEDIATE

Next Tutorial: Warehouse Viewer

Introduction

This tutorial introduces you to the Planning Components Visualizer, which is a tool for interacting with your robot, solving inverse kinematics, and dynamically creating plans. In addition, the visualizer is a tool for validating the URDF, collision models, and planning configuration of your robot - essentially making sure that all the components of the arm navigation system are in order and functioning properly.

Prerequisites

In order to run the visualizer, you must have first generated an arm navigation package for your robot using the planning description configuration wizard. This package should be in the $ROS_PACKAGE_PATH environment variable, and should be called <your_robot_name>_arm_navigation. You must also have Rviz installed.

Launching The Visualizer

To launch the visualizer, open a terminal and type the following command:

roslaunch <your_robot_name>_arm_navigation planning_components_visualizer.launch

This will launch the requisite arm_navigation components (inverse kinematics, planner, trajectory filter, and environment_server) as well as launching Rviz with the proper configuration.

Components of the Visualizer

The Planning Components Visualizer uses interactive markers for user input. To use interactive markers, press the button on the top of the Rviz window which says "Interact." When you do this, a set of markers will appear on and on top of your robot that you can interact with.

tutorial1.png

Top Level Menu

tutorial3.png

The top level menu is a selectable text label floating above your robot ("Command...") right click on the top level menu to access its capabilities. The top level menu has the following options:

End Effector Control

tutorial4.png

The end effector control is an interactive marker that allows you to perform IK control on the end effector of the selected planning group, plan with the selected planning group, filter trajectories, and so on. To pose the end effector while IK control is active, rotate or slide the interactive marker around using the interactive marker. If an IK solution exists, the robot model will be posed to that solution.

tutorial5.png

Otherwise, the end effector of the robot model will turn red, and no IK solution will be produced.

Right clicking on one of the controls on the end effector will open up the end effector menu.

tutorial6.png

The end effector menu has the following options:

Joint Control

tutorial8.png

When Joint Control is active, you can directly control the state of joints in the selected planning group. Drag the rotational controls around to set the position of revolute joints, and drag axis controls up and down to control prismatic joints. Joints will obey their limits when you do this.

Collision Poles

tutorial9.png

Collision poles can be created by going to the top level menu and selecting "Create Pole." When you do this, a large green pole will be spawned a few meters away from your robot. To select the pole, simply click on it. Once selected, the pole can be oriented arbitrarily. By right clicking on one of the controls attached to the pole, you may de-select or delete it. Moving the poles will cause the planning environment to be reset (this includes start and end poses for the robot). The IK solver and the OMPL planner will both automatically avoid any poles you place in the environment.


2020-02-22 12:31