yao62995/as_6dof_arm

robot arm by ROS & Moveit, Train Deep Reinforcement Algorithms

as_6dof_arm's Issues

这是用深度强化学习进行机械臂的避障运动规划？

深度强化学习的环境是怎么配置的，我的是6自由度机械臂，这个深度强化学习能用到我的机械臂上进行避障运动规划吗，

/usr/bin/ld: 找不到 -lpthreads

Determining if the pthread_create exist failed with the following output:
Change Dir: /home/x/arm_master/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_dcc45/fast"
/usr/bin/make -f CMakeFiles/cmTC_dcc45.dir/build.make CMakeFiles/cmTC_dcc45.dir/build
make[1]: Entering directory '/home/x/arm_master/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_dcc45.dir/CheckSymbolExists.c.o
/usr/bin/cc -o CMakeFiles/cmTC_dcc45.dir/CheckSymbolExists.c.o -c /home/x/arm_master/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTC_dcc45
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_dcc45.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_dcc45.dir/CheckSymbolExists.c.o -o cmTC_dcc45 -rdynamic
CMakeFiles/cmTC_dcc45.dir/CheckSymbolExists.c.o：在函数‘main’中：
CheckSymbolExists.c:(.text+0x16)：对‘pthread_create’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_dcc45.dir/build.make:97: recipe for target 'cmTC_dcc45' failed
make[1]: *** [cmTC_dcc45] Error 1
make[1]: Leaving directory '/home/x/arm_master/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_dcc45/fast' failed
make: *** [cmTC_dcc45/fast] Error 2

File /home/x/arm_master/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
/* */
#include <pthread.h>

int main(int argc, char** argv)
{
(void)argv;
#ifndef pthread_create
return ((int*)(&pthread_create))[argc];
#else
(void)argc;
return 0;
#endif
}

Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/x/arm_master/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_abdcb/fast"
/usr/bin/make -f CMakeFiles/cmTC_abdcb.dir/build.make CMakeFiles/cmTC_abdcb.dir/build
make[1]: Entering directory '/home/x/arm_master/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_abdcb.dir/CheckFunctionExists.c.o
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_abdcb.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.5/Modules/CheckFunctionExists.c
Linking C executable cmTC_abdcb
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_abdcb.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_abdcb.dir/CheckFunctionExists.c.o -o cmTC_abdcb -rdynamic -lpthreads
/usr/bin/ld: 找不到 -lpthreads
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_abdcb.dir/build.make:97: recipe for target 'cmTC_abdcb' failed
make[1]: *** [cmTC_abdcb] Error 1
make[1]: Leaving directory '/home/x/arm_master/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_abdcb/fast' failed
make: *** [cmTC_abdcb/fast] Error 2
请问这个要怎么配置

check_collision.cpp除了自身碰撞，它不能检测与障碍物之间的碰撞吗

你好，我运行了你的check_collision.cpp的代码，我可以做到自身碰撞的检测。


但是我无法做到碰撞到障碍物的检测：在旁边增加一个书柜，让机械臂planning去碰撞那个书柜，我使用带参数的rosservice call规划去碰撞书柜，但是并不会返回碰撞到。请问是这个check_collision.cpp本来就没有检测和其他物体的碰撞吗

请问如果我需要做什么才能改成能够检测障碍物,我参考了古月的代码进行修改，但是没有任何帮助。我的修改如下：
bool CheckCollisionNode::CheckCollision(vector<double>& values) { RobotState& robot_state = this->m_planScene->getCurrentStateNonConst(); collision_detection::AllowedCollisionMatrix acm = this->m_planScene->getAllowedCollisionMatrixNonConst(); robot_state::RobotState copied_state = this->m_planScene->getCurrentState(); collision_detection::CollisionResult::ContactMap::const_iterator it2; int k=0; for(it2=this->m_collResult.contacts.begin(); it2!=this->m_collResult.contacts.end(); ++it2,k++){ acm.setEntry(it2->first.first,it2->first.second,true); } // format Float64MultiArray to vector<double> printf("\nhere is the %d joint state:\n",k); for (int i = 0; i < this->m_jointNames.size(); i++) { this->m_jointValues[i] = values[i]; robot_state.setJointPositions(this->m_jointNames[i], &this->m_jointValues[i]); printf("\t%f\n",this->m_jointValues[i]); } // check m_collResult.clear();//Self m_planScene->checkCollision(this->m_collRequest, this->m_collResult, copied_state, acm); return this->m_collResult.collision; }

grasp 生成器：Grasp configuration parameter `pregrasp_time_from_start` missing from rosparam server.

... logging to /home/forrest/.ros/log/9d404900-aaf5-11e6-b1bd-708bcda99ddb/roslaunch-forrest-7678.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://forrest:40489/
SUMMARY
========
PARAMETERS
 * /moveit_simple_grasps_server/base_link: base_link
 * /moveit_simple_grasps_server/end_effector: gripper
 * /moveit_simple_grasps_server/gripper/end_effector_name: gripper
 * /moveit_simple_grasps_server/gripper/end_effector_parent_link: gripper_link
 * /moveit_simple_grasps_server/gripper/grasp_pose_to_eef: [0.0, 0.0, 0.0]
 * /moveit_simple_grasps_server/gripper/grasp_pose_to_eef_rotation: [0.0, 0.0, 0.0]
 * /moveit_simple_grasps_server/gripper/grasp_posture: [0.0, 0.0]
 * /moveit_simple_grasps_server/gripper/grasp_time_from_start: 4.0
 * /moveit_simple_grasps_server/gripper/joints: ['finger_joint1',...
 * /moveit_simple_grasps_server/gripper/postplace_time_from_start: 4.0
 * /moveit_simple_grasps_server/gripper/pregrasp_posture: [0.015, -0.015]
 * /moveit_simple_grasps_server/gripper/pregrasp_time_from_start: 4.0
 * /moveit_simple_grasps_server/group: arm
 * /rosdistro: indigo
 * /rosversion: 1.11.20
NODES
  /
    moveit_simple_grasps_server (moveit_simple_grasps/moveit_simple_grasps_server)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[moveit_simple_grasps_server-1]: started with pid [7697]

**[ERROR] [1479200657.825976997]: Grasp configuration parameter `pregrasp_time_from_start` missing from rosparam server. Did you load your end effector's configuration yaml file? Searching in namespace: /moveit_simple_grasps_server/right
[moveit_simple_grasps_server-1] process has died [pid 7697, exit code -11, cmd /opt/ros/indigo/lib/moveit_simple_grasps/moveit_simple_grasps_server __name:=moveit_simple_grasps_server __log:=/home/forrest/.ros/log/9d404900-aaf5-11e6-b1bd-708bcda99ddb/moveit_simple_grasps_server-1.log].
log file: /home/forrest/.ros/log/9d404900-aaf5-11e6-b1bd-708bcda99ddb/moveit_simple_grasps_server-1*.log**
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

联系方式

gazebo:unknown macro name: xacro:base None（as_arm_bringup.launch）

你好，我在运行roslaunch as_arm_gazebo as_arm_bringup.launch时候报错unknown macro name: xacro:base None None

从报错上看应是load模型时候出了问题，采用的是原程序的command="$(find xacro)/xacro.py '$(find as_arm_description)/urdf/as_arm.xacro'"
请问应该怎么解决？
配置：
Ubuntu16.04
ros-kinetic
Gazebo 7.15.0

English Description

I like this project, but don't understand the ReadMe etc. Could you please translate it to English? Thank you

gazebo:can't locate node [cube_link_pose.py] in package [as_arm_gazebo]

ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[gazebo-1]: started with pid [10146]
process[gazebo_gui-2]: started with pid [10150]
process[urdf_spawner-3]: started with pid [10154]
process[object_spawner-4]: started with pid [10155]
process[as_arm/joint_controller_spawner-5]: started with pid [10156]
process[robot_state_publisher-6]: started with pid [10157]
ERROR: cannot launch node of type [as_arm_gazebo/cube_link_pose.py]: can't locate node [cube_link_pose.py] in package [as_arm_gazebo]
process[arm_image_view-8]: started with pid [10158]
process[as_arm/controller_spawner-9]: started with pid [10171]
ERROR: cannot launch node of type [as_arm_gazebo/arm_joint_pose.py]: can't locate node [arm_joint_pose.py] in package [as_arm_gazebo]
ERROR: cannot launch node of type [as_arm_gazebo/arm_joint_sync.py]: can't locate node [arm_joint_sync.py] in package [as_arm_gazebo]
[ INFO] [1479139896.341562149]: Using transport "raw"
Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
spawn_model script started
spawn_model script started
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.139
[ WARN] [1479139896.555830036]: Shutdown request received.
[ WARN] [1479139896.555887261]: Reason given for shutdown: [new node registered with same name]
Gazebo multi-robot simulator, version 2.2.6
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[INFO] [WallTime: 1479139896.645401] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1479139896.648743] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Exception [Master.cc:50] Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.
Exception [Master.cc:50] Unable to start server[bind: Address already in use]. There is probably another Gazebo process running.
[INFO] [WallTime: 1479139896.652836] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1479139896.655255] [0.000000] Waiting for service /gazebo/spawn_urdf_model
[INFO] [WallTime: 1479139896.720502] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[gazebo-1] process has died [pid 10146, exit code 255, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/forrest/.ros/log/f2f8f1ce-aa70-11e6-9181-708bcda99ddb/gazebo-1.log].
log file: /home/forrest/.ros/log/f2f8f1ce-aa70-11e6-9181-708bcda99ddb/gazebo-1*.log

在执行roslaunch as_arm_gazebo as_arm_bringup.launch的时候，出现这个问题.
相机小窗没有图片，点击的时候会出现没有图像数据的warning.
是需要修改cmakelist的什么地方么？

配置：
ubuntu14.04
ros-indigo
gazebo2.2.6

ERROR: cannot launch node of type [moveit_simple_grasps/moveit_simple_grasps_server]: moveit_simple_grasps

我的ROS版本是Melodic，gezebo环境，moveit Demo已经启动成功，但是在启动grasp 生成器时
roslaunch as_arm_gazebo grasp_generator_server.launch
报错

ERROR: cannot launch node of type [moveit_simple_grasps/moveit_simple_grasps_server]: moveit_simple_grasps
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/franka/catkin_franka/src
ROS path [2]=/opt/ros/melodic/share

If I have the URDF of another manipulator, how do I need to modify the code to run?

Can I run it in ubuntu 16 +ROS kinetic?

CheckCollisionValid.h:No such file or directory

~/catkin_ws/src/AS_6Dof_Arm/as_arm_control/src/check_collision.cpp:11:52: fatal error: as_arm_description/CheckCollisionValid.h: No such file or directory
 #include <as_arm_description/CheckCollisionValid.h>
                                                    ^
compilation terminated.
make[2]: *** [AS_6Dof_Arm/as_arm_control/CMakeFiles/check_collision.dir/src/check_collision.cpp.o] Error 1
make[1]: *** [AS_6Dof_Arm/as_arm_control/CMakeFiles/check_collision.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

作者你好，在工作空间中运行catkin_make的时候出现上述问题，请问该怎么解决？

环境：
ubuntu14.04
ros-indigo
gazebo2.0：使用sudo apt-get install安装的

请问有没有人遇到这样的情况？如何解决呢？

[ 8%] Generating Lisp code from as_arm_description/CheckCollisionValid.srv
ERROR: Duplicate field names in message: ['name', 'x', 'y', 'z', 'r', 'p', 'y']
make[2]: *** [/home/wwb686/catkin_ws/devel/share/common-lisp/ros/as_arm_description/srv/CheckCollisionValid.lisp] Error 1
make[1]: *** [as_arm_description/CMakeFiles/as_arm_description_generate_messages_lisp.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j1 -l1" failed