thank you for excellent ecplanation. Just short info 6:28 u= l₁ cos(θ1)+ l₂ cos(θ1+θ2) + l₃ cos(θ1+θ2+θ3) v= l₁ sin(θ1)+ l₂ sin(θ1+θ2) + l₃ sin(θ1+θ2+θ3) if l₁ = l₂ = l₃ so there is no problem
Hello, thank you for the video. I followed each step in the video but I encountered a problem. In the controller tab, all of the commands works properly but not "move the arm". When I clicked on it, robot arm goes somewhere else. Also, how can I edit those commands so that I can control the robot arm as I wish, and maybe I can solve the problem in this way? Thank you!
Hi Cihan Okay! Thanks for watching my video! If the arm moves in a wrong direction, probably waypoint is not set properly. Please check whether block position is recognized correctly. Yes, you can edit commands by modifying the “Pick_up_the_block” function in the “controller.py” script. If you would like to edit UI, please edit the “controller_window.ui” file using qt designer tool and convert it to python script.
How does moveit know whether there is a barrier or not in gazebo when it generates a plan? e.g. I put an object to be picked by robotic arm, but also there are some barriers around it.
You have to setup “3D Perception Sensor Configuration”. Please see step 8 of this documentation. moveit.picknik.ai/humble/doc/examples/setup_assistant/setup_assistant_tutorial.html
hey you use the aruco marker file to get xyz and rpy to publish on /block_pose topic but if i want to give it manually using any tool than how my robotic arm calculate the joint angle from the topic /block_pose and where and when did you setup up the /block_pose topic in the video ?
Hi Pratham Gyanani! Thanks for watching my video! The /block_pose topic is defined in the “aruco_pose_estimation.py” script at line 100. You can give manual target points by moving interactive marker inside moveit.
That command, python3 controller.py, at what time did you talk about that python file? I didn't catch it during watching the video. I wanted to know how you managed to create that controller user interface. Is it possible to bring up the user interface in Rviz and connect it to an actual robotic arm?
Hi ExusBuurn! Thanks for watching my video! You should execute the “controller.py” scripts after you have launched the gazebo world. I created user interface using pyqt5. Pyqt5 is useful for creating user interfaces for desktop applications. But you can not use pyqt5 inside rviz.
Hello, I am confused about what you did after as you are asking to download your file and catkin_make, can you please make a complete tutorial where we can really do all the things from scratch? I really appreciate your efforts and video
Hi Ankit Kumar! Thanks for watching my video! In this tutorial I focused on usage of the “MoveIt” library and theory behind it. Since I am making these tutorials only by myself, it is difficult for me to make a tutorial that will cover the whole process of building a simulation model, because it will take me a great amount of time.
not very explained.. how is the coordinate transformation actually made .. in the code ? ? and i thought it all works within polar coordinate system... cause.. jacobian and all that..
Hi Kaczor Donald! Thanks for watching my video! The coordinate transformations is done in the "aruco_pose_estimation.py" script in the "get_degrees" function. I think the Cartesian coordinate system is used more often but that depends on the type of problem you are dealing with.
@@robotmania8896Hello yes I executed this command but I think the package disappeared from the repositories. So I fell back on a raspberry with ubiquity robotics install my final goal is to control a jaco arm with a raspberry connect to a controller or a visual interface have you advice?
I think Raspberry Pi probably will not be able to handle kinematics calculation related to robotic arm and calculations related to computer vision at the same time. Orin nano will be better for this purpose.
Hello, I want to ask how can I individually control each joints through moveit? I tried to understand your controller.py script but couldn't understand. I am trying to control a robotic arm, have generated moveit joints, launch files but don't know how to move it now. COuld you please help?
Hi Matteo Cassinelli! Thanks for watching my video! I have never had such a problem. You may try to increase mass and moment of inertia of the robot base. If it will still fall, probably something is wrong with gazebo itself.
Hi Wk L! Thanks for watching my video! As far as I know, moveit2 doesn’t have a setup assistant right now. So, you have to write all set up files by yourself. The link is in the description, please check it.
Hi umar anjum! Thanks for watching my video! If there are no pid gains in your ros_control.yaml file, add them manually. Please refer to the yaml file included in the zip folder which comes with this tutorial.
@@robotmania8896 Hi mania Thanks for replying how do I find the most suitable pid values for mr robotic arm? is there any value setting rule by default?
There are several methods to determine optimal PID gains. But they are difficult to apply for complex systems like this robotic arm. Most often, you just increase or decrease gains until the movement of controlled system becomes acceptable.
Hi Joey Chan! Thanks for watching my video! Folder “.gazebo” is a hidden folder. Check the “Show Hidden Files” option in “Files” window. If it does not appear, please execute “$ gazebo” command in the terminal once.
@@robotmania8896 Thanks for ur reply. But one more question why when I rosrun aruco_recognition aruco_pose_estimation.py, there is error like line 104, in callback _colour_img cv_colour_image =bridge.imgmsg_to_cv2(data,"bgr8") and import error :dynamic module does not define module export function.
@@joeychan4728 It seems that this is environment variable issue. I don’t have any specific solution for you, but I have found several posts related to this topic. Here they are. stackoverflow.com/questions/55757572/cv-bridge-dynamic-module-does-not-define-module-pyinit-cv-bridge-boost stackoverflow.com/questions/63001962/importerror-dynamic-module-does-not-define-module-export-function-pyinit-cx-or I hope this might help you.
hi sir i followed your tutorial and when i run the launch file the kinova robot the robot started shaking a lot and it scattered. could you help me with the solution
hi @@robotmania8896 thank you for replying how much do i need to decrease the pid and also if possible can you give me any contact details to contact you as i have to submit this as an assignment for a job opportunity and would really appreciate if you could help me with this
@@robotmania8896 I tried it but it's still shaking I even tried with the default values and it's still the same is there any way I can share the video of what happens.
@@nitinshinde9044 I have never encountered such an error before with this tutorial. I am not sure whether it is a problem of the tutorial or marker detection library. One way to find out is to try detecting the same marker with a simpler program using the same library.
Thank you very much on this very few demo: ROS Noetic + Moveit + Gazebo + Pick and Place + Perception!
Hi kaijia6998!
Thanks for watching my video!
It is my pleasure if this video has helped you!
thank you for excellent ecplanation. Just short info 6:28
u= l₁ cos(θ1)+ l₂ cos(θ1+θ2) + l₃ cos(θ1+θ2+θ3)
v= l₁ sin(θ1)+ l₂ sin(θ1+θ2) + l₃ sin(θ1+θ2+θ3)
if l₁ = l₂ = l₃ so there is no problem
Hi YAS!
Thanks for pointing out. “l” in the second and third terms should be l2 and l3 respectively. That was a typo.
@@robotmania8896 Thank you,too.
Thank you for your video.
Hi iamshakeelsindho!
Thanks for watching my video!
It is my pleasure if this video has helped you!
Excellent teaching as usual. Thx !
Great video. Thanks so much. It is really helpful.
Hi jongwuk son!
Thanks for watching my video!
It is my pleasure if this video has helped you.
Hello, thank you for the video. I followed each step in the video but I encountered a problem. In the controller tab, all of the commands works properly but not "move the arm". When I clicked on it, robot arm goes somewhere else. Also, how can I edit those commands so that I can control the robot arm as I wish, and maybe I can solve the problem in this way? Thank you!
Hi Cihan Okay!
Thanks for watching my video!
If the arm moves in a wrong direction, probably waypoint is not set properly. Please check whether block position is recognized correctly.
Yes, you can edit commands by modifying the “Pick_up_the_block” function in the “controller.py” script.
If you would like to edit UI, please edit the “controller_window.ui” file using qt designer tool and convert it to python script.
How does moveit know whether there is a barrier or not in gazebo when it generates a plan? e.g. I put an object to be picked by robotic arm, but also there are some barriers around it.
You have to setup “3D Perception Sensor Configuration”. Please see step 8 of this documentation.
moveit.picknik.ai/humble/doc/examples/setup_assistant/setup_assistant_tutorial.html
Thanks so much
Hi Maker Tutor!
Thanks for watching my video!
It is my pleasure if this video has helped you!
hey you use the aruco marker file to get xyz and rpy to publish on /block_pose topic but if i want to give it manually using any tool than how my robotic arm calculate the joint angle from the topic /block_pose and where and when did you setup up the /block_pose topic in the video ?
Hi Pratham Gyanani!
Thanks for watching my video!
The /block_pose topic is defined in the “aruco_pose_estimation.py” script at line 100. You can give manual target points by moving interactive marker inside moveit.
That command, python3 controller.py, at what time did you talk about that python file? I didn't catch it during watching the video. I wanted to know how you managed to create that controller user interface. Is it possible to bring up the user interface in Rviz and connect it to an actual robotic arm?
Hi ExusBuurn!
Thanks for watching my video!
You should execute the “controller.py” scripts after you have launched the gazebo world. I created user interface using pyqt5. Pyqt5 is useful for creating user interfaces for desktop applications. But you can not use pyqt5 inside rviz.
Hello, I am confused about what you did after as you are asking to download your file and catkin_make, can you please make a complete tutorial where we can really do all the things from scratch? I really appreciate your efforts and video
Hi Ankit Kumar!
Thanks for watching my video!
In this tutorial I focused on usage of the “MoveIt” library and theory behind it. Since I am making these tutorials only by myself, it is difficult for me to make a tutorial that will cover the whole process of building a simulation model, because it will take me a great amount of time.
@@robotmania8896 I can completely understand, can I have your email ID for further discussion?
@@AnkitKumar-dg4hs This is my e-mail address : robotmania8867@yahoo.com
not very explained.. how is the coordinate transformation actually made .. in the code ? ? and i thought it all works within polar coordinate system... cause.. jacobian and all that..
Hi Kaczor Donald!
Thanks for watching my video!
The coordinate transformations is done in the "aruco_pose_estimation.py" script in the "get_degrees" function. I think the Cartesian coordinate system is used more often but that depends on the type of problem you are dealing with.
hello thanks for this video but I get the error that it does not find the package ros-noetic-moveit is there anything installed before that?
Hi Ylan PERNOT!
Thanks for watching my video!
Can you please execute “sudo apt install ros-noetic-moveit”?
@@robotmania8896Hello yes I executed this command but I think the package disappeared from the repositories.
So I fell back on a raspberry with ubiquity robotics install my final goal is to control a jaco arm with a raspberry connect to a controller or a visual interface have you advice?
I think Raspberry Pi probably will not be able to handle kinematics calculation related to robotic arm and calculations related to computer vision at the same time. Orin nano will be better for this purpose.
Hello,
I want to ask how can I individually control each joints through moveit?
I tried to understand your controller.py script but couldn't understand.
I am trying to control a robotic arm, have generated moveit joints, launch files but don't know how to move it now.
COuld you please help?
Hi Aksh Rajput!
Thanks for watching my video!
In the moveit.rviz UI, there is a “Joints” tab. You can control each joint by dragging blue bar.
Hello!!
When I Spawn the robot it's not straight but it starts falling down... What's the problem? It's like the controller are fighting the gravity.
Hi Matteo Cassinelli!
Thanks for watching my video!
I have never had such a problem. You may try to increase mass and moment of inertia of the robot base. If it will still fall, probably something is wrong with gazebo itself.
hello robotmania do you think moveit2 could be setup similarly? BTW project files link is missing
Hi Wk L!
Thanks for watching my video!
As far as I know, moveit2 doesn’t have a setup assistant right now. So, you have to write all set up files by yourself.
The link is in the description, please check it.
From where world file came
Hi AI-Mind!
Thanks for watching my video!
The world file is in the “src/kinova_moveit/worlds/arm_example.world”.
11:21 i didn't get any of the pid gains in my ros_controllers.yalm file
Hi umar anjum!
Thanks for watching my video!
If there are no pid gains in your ros_control.yaml file, add them manually. Please refer to the yaml file included in the zip folder which comes with this tutorial.
why is my robotic arm huddle up?
Hi NAN JIANG!
Thanks for watching my video!
If vibration of the arm concerns you, you may reduce gains of PID controller.
@@robotmania8896
Hi mania
Thanks for replying
how do I find the most suitable pid values for mr robotic arm? is there any value setting rule by default?
There are several methods to determine optimal PID gains. But they are difficult to apply for complex systems like this robotic arm. Most often, you just increase or decrease gains until the movement of controlled system becomes acceptable.
Hi may I know where to get .gazebo file to paste the aruco_block_long?
Hi Joey Chan!
Thanks for watching my video!
Folder “.gazebo” is a hidden folder. Check the “Show Hidden Files” option in “Files” window. If it does not appear, please execute “$ gazebo” command in the terminal once.
@@robotmania8896 Thanks for ur reply. But one more question why when I rosrun aruco_recognition aruco_pose_estimation.py, there is error like line 104, in callback _colour_img
cv_colour_image =bridge.imgmsg_to_cv2(data,"bgr8") and import error :dynamic module does not define module export function.
@@joeychan4728 It seems that this is environment variable issue. I don’t have any specific solution for you, but I have found several posts related to this topic. Here they are.
stackoverflow.com/questions/55757572/cv-bridge-dynamic-module-does-not-define-module-pyinit-cv-bridge-boost
stackoverflow.com/questions/63001962/importerror-dynamic-module-does-not-define-module-export-function-pyinit-cx-or
I hope this might help you.
@@robotmania8896 Alright thanks!
hi sir i followed your tutorial and when i run the launch file the kinova robot the robot started shaking a lot and it scattered. could you help me with the solution
Hi nikhiljohnson6048!
Thanks for watching my video!
If your robot shakes, please reduce PID gains of the controller.
hi @@robotmania8896
thank you for replying how much do i need to decrease the pid and also if possible can you give me any contact details to contact you as i have to submit this as an assignment for a job opportunity and would really appreciate if you could help me with this
@@robotmania8896 also the whole robot kind of exploded and all the parts flew everywhere is it the problem with urdf?
@@nikhiljohnson6048 I don’t think so.
Try to reduce gains to smaller values and see how the robot will behave.
@@robotmania8896
I tried it but it's still shaking I even tried with the default values and it's still the same is there any way I can share the video of what happens.
is this the same with ros 2?
Hi greendesertsnow!
Thanks for watching my video!
The usage of “Setup Assist” is the same. But the code is different for ROS2.
@@robotmania8896 ok thank you robot mania
While rosrun I got No marker detected!
Hi Nitin Shhinde!
Thanks for watching my video!
Are there any other errors in your terminals or it’s the marker that is just not detected?
@@robotmania8896 Thank you for reply.
That's the only error in the terminal.
@@nitinshinde9044 I have never encountered such an error before with this tutorial. I am not sure whether it is a problem of the tutorial or marker detection library. One way to find out is to try detecting the same marker with a simpler program using the same library.
What was the solution Nitin?
@@robotmania8896 hi sir I too got the same error as no marker detected when I executed the command is there any way to rectify it
Is this files works in ros2
Hi vickylogesh1576”
Thanks for watching my video!
No, it will not run with ROS2. This project is created for ROS Noetic.
@@robotmania8896 ok brother thanks
@@robotmania8896 I tried in ros 2 but it's not worked while I type 6 dof robot in terminal it shows no file or directory
@@vickylogesh1576 As I explained above, this project will not run with ROS2. Please run it with ROS Noetic.