Generate Map of 3 dof Robot and cylindrical Robot

[myalfred03]

Hello Abhijit Makhal,
I'm Currently work in my thesis research that is the development a Virtual Laboratory of industrial Robotics using ROS for my university in Nicaragua.
I've Follow, you excellent repository of mapping workspace of industrial robots with REULEAUX.
I've been testing with my own models like a 2, 3 dof robots, and Cylindrical robot generating a IKfast Files with OpenRave But I have a problems with this models in generate the IKFAST.CPP, I was hope with Reuleaux_moveit generate the map of this models with I have a problems, Not Working

I've created the package in moveit of my own models. MODEL_moveit_config
This is a cylindrical robot model.

These are parameters to load in node map_generator

This a error

Thanks...

[jontromanab]

Hello Alfredo,
The reuleaux package uses ikfast, though reuleaux_moveit does not need ikfast to run.
It seems the error is it could not find anything to save to the hdf5 file. As clearly the error states "Found empty jointstate message". Can you please verify that if you are receiving any ik solution from your moveit config?

Thank you.

[myalfred03]

Hello again, thanks for you response.
I think I have a IK Solution, the process for reachability show 108 spheres to being processed, I guess that are Ik solution for my moveit_config

I've launch demo.launch, I think I have my files of moveit config ok, I have solutions for a position determined

:)

[jontromanab]

The spheres are from discretization. They don't representation IK solution. In the next step, the 108 spheres are going to discretized with poses (the 5400 poses), and all the poses will be checked for IK solution. There is surely some problem going on. Can you please send me the link to your moveit_config and urdf, so I can test it? Thank you.

…

On Thu, Jan 10, 2019 at 10:45 AM Alfredo Morales ***@***.***> wrote: Hello again, thanks for you response. I think I have a IK Solution, the process for reachability show 108 spheres to being processed, I guess that are Ik solution for my moveit_config [image: image] <https://user-images.githubusercontent.com/12577091/51000612-447a8780-14f3-11e9-8ce3-d85e827b553b.png> I've launch demo.launch, I think I have my files of moveit config ok, I have solutions for a position determined [image: image] <https://user-images.githubusercontent.com/12577091/51001808-dfc12c00-14f6-11e9-8c35-2e3503871cd9.png> :) — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#3 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ADnYHGHjVJV7xcKSE1EsEeWhQv2q0UDJks5vB8KEgaJpZM4Z2VqE> .

-- Abhijit Makhal Robotics and Artificial Intelligence Lab Indian Institute of Information Technology

[myalfred03]

Ok @jontromanab I've created a repository with the moveit_config, I really appreciate your kind help.

Repository moveit_configs
:D

[joaocabogon]

Hello. I am having a similar problem:
[ERROR] [/map_gen]: Failed to call IK service
[ERROR] [/move_group]: Found empty JointState message

Should we run move_group separately?

[jontromanab]

@joaocabogon You dont have to run move_group separately. The launch file already does that.
@myalfred03 Sorry I did not get time to check that. But will surely come back with an update. Thank you for the patience.

[jontromanab]

@myalfred03 There may a slight possibility that I have not closed the error message and it could not find the ik solution for unreachable poses and you are closing the program before it start finding valid IK solution. Why dont you keep the program running and let it finish?

[myalfred03]

Hello @jontromanab in my last tests, I was do this that you recommended, but not work the file .h5 generated is of 5Kb
I've made the same test.
Take a look of this.

Crashing the process :(

[myalfred03]

Hello @jontromanab.
I've compiled again, this are warnings in the code!

Regards.

[MShields1986]

Similar issue here except I don't get as far as "Creating Directory"

[ERROR] [1680281465.276545308]: Found empty JointState message
[ERROR] [1680281465.381807733]: Found empty JointState message
[ERROR] [1680281465.486150348]: Found empty JointState message
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

EDIT
After some debugging I found that ReachAbility::createReachability has no return