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tiago_dual_robot's Introduction

TIAGo++ robot

This package contains the description, controllers and bringup for all possible TIAGo++ configurations (end effectors, force torque sensors..).

To make maintenance easier, the tiago_dual.urdf.xacro takes arguments that specify the end effector types, force torqu sensors, laser model and many other parameters.

The other configuration files that differ between between robot configurations are generated from template files.

The templates are written using empy and have the extension .em.

To regenerate a group of files, you must execute rosrun tiago_dual_bringup regen_em_file.py EM_FILE_NAME from the directory where the .em file is.

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tiago_dual_robot's Issues

Create my own tiago_moveit_config using MoveIt Setup Assistant?

I use ROS 1.14.10, melodic, Ubuntu 18.04.
I wanna create my own tiago_moveit_config using MoveIt Setup Assistant.

I followed the official tutorial to use MoveIt Setup Assistant to do it. What I tried is:

  1. Download the tiago_dual_robot folder from here and put it in src folder inside my moveit workspace ws_moveit.
  2. run catkin build and source it.
  3. run the command roslaunch moveit_setup_assistant setup_assistant.launch to launch MoveIt Setup Assistant
  4. load xacro file from my moveit space ws_moveit/src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro
  5. report error: resource not found: pmb2_descirption. Then I download pmb2_robot from here and put pmb2_robot folder inside tiago_dual_robot folder.
  6. run catkin build and source it again.
  7. load xacro file from my moveit space ws_moveit/src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro,
  8. then report: resource not found: tiago_descirption.

I'm confused about why it reports resource not found: tiago_descirption because I use tiago_dual_robot, not tiago_robot, and at the last sentence of the error, it says:
when processing file: /home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description/urdf/torso/torso_dual.urdf.xacro.
Does it mean sth wrong in torso_dual.urdf.xacro? Or what I did is not the way to create my own tiago_moveit_config? Hope someone can help me out.

The error like this:

ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/huangjiawei/ws_moveit/src/geometric_shapes
ROS path [2]=/home/huangjiawei/ws_moveit/src/moveit/moveit
ROS path [3]=/home/huangjiawei/ws_moveit/src/moveit_msgs
ROS path [4]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/moveit_planners
ROS path [5]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_plugins
ROS path [6]=/home/huangjiawei/ws_moveit/src/moveit_resources/moveit_resources
ROS path [7]=/home/huangjiawei/ws_moveit/src/moveit_resources/fanuc_description
ROS path [8]=/home/huangjiawei/ws_moveit/src/moveit_resources/fanuc_moveit_config
ROS path [9]=/home/huangjiawei/ws_moveit/src/moveit/moveit_commander
ROS path [10]=/home/huangjiawei/ws_moveit/src/moveit_resources/panda_description
ROS path [11]=/home/huangjiawei/ws_moveit/src/moveit_resources/panda_moveit_config
ROS path [12]=/home/huangjiawei/ws_moveit/src/moveit_resources/pr2_description
ROS path [13]=/home/huangjiawei/ws_moveit/src/moveit/moveit_core
ROS path [14]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_motion_planner
ROS path [15]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_optimizer_adapter
ROS path [16]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_ikfast_manipulator_plugin
ROS path [17]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_moveit_config
ROS path [18]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_pg70_support
ROS path [19]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/moveit_ros
ROS path [20]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/occupancy_map_monitor
ROS path [21]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/planning
ROS path [22]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_fake_controller_manager
ROS path [23]=/home/huangjiawei/ws_moveit/src/moveit/moveit_kinematics
ROS path [24]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/ompl
ROS path [25]=/home/huangjiawei/ws_moveit/src/moveit_resources/prbt_support
ROS path [26]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/move_group
ROS path [27]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/manipulation
ROS path [28]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/perception
ROS path [29]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/robot_interaction
ROS path [30]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/warehouse
ROS path [31]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/benchmarks
ROS path [32]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/planning_interface
ROS path [33]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/chomp/chomp_interface
ROS path [34]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/visualization
ROS path [35]=/home/huangjiawei/ws_moveit/src/moveit/moveit_runtime
ROS path [36]=/home/huangjiawei/ws_moveit/src/moveit/moveit_ros/moveit_servo
ROS path [37]=/home/huangjiawei/ws_moveit/src/moveit/moveit_setup_assistant
ROS path [38]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_simple_controller_manager
ROS path [39]=/home/huangjiawei/ws_moveit/src/moveit/moveit_plugins/moveit_ros_control_interface
ROS path [40]=/home/huangjiawei/ws_moveit/src/panda_moveit_config
ROS path [41]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner_testutils
ROS path [42]=/home/huangjiawei/ws_moveit/src/moveit/moveit_planners/pilz_industrial_motion_planner
ROS path [43]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_bringup
ROS path [44]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_controller_configuration
ROS path [45]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_description
ROS path [46]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/pmb2_robot/pmb2_robot
ROS path [47]=/home/huangjiawei/ws_moveit/src/rviz_visual_tools
ROS path [48]=/home/huangjiawei/ws_moveit/src/moveit_visual_tools
ROS path [49]=/home/huangjiawei/ws_moveit/src/moveit_tutorials
ROS path [50]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_bringup
ROS path [51]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_controller_configuration
ROS path [52]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description
ROS path [53]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description_calibration
ROS path [54]=/home/huangjiawei/ws_moveit/src/tiago_dual_moveit_config
ROS path [55]=/home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_robot
ROS path [56]=/opt/ros/melodic/share
when processing file: /home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description/urdf/torso/torso_dual.urdf.xacro
included from: /home/huangjiawei/ws_moveit/src/tiago_dual_robot/tiago_dual_description/robots/tiago_dual.urdf.xacro

Thank you so much in advance.

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