Search found 11 matches

by francofusco
21 Dec 2017, 16:31
Forum: General questions
Topic: Discontinuity in position/velocity
Replies: 2
Views: 892

Re: Discontinuity in position/velocity

Okay, it seems that somehow I could fix the problem! My solution is really simple: instead of setting the position of my object and then its orientation separately via vector+quaternion, I do that directly in one shot using a transformation matrix. I believe the problem was related to conversions fr...
by francofusco
20 Dec 2017, 18:43
Forum: General questions
Topic: Discontinuity in position/velocity
Replies: 2
Views: 892

Discontinuity in position/velocity

Hello! I am running into an issue that is making me crazy. I tried to double-check my code, but still I do not understand how to solve my problem. I am working on visual servoing application. My idea is to test some controls assuming that I can fully control the camera in velocity. The main actuatio...
by francofusco
24 Jun 2017, 12:13
Forum: General questions
Topic: How to use v_repExtCustomUI
Replies: 1
Views: 1094

Re: How to use v_repExtCustomUI

Hi Alfredo, Check this topic: http://www.forum.coppeliarobotics.com/viewtopic.php?f=9&t=6667&p=26565#p26565 It may help you to get started with the plugin! In the example the UI is created inside a non-threaded child script, but you can also create the interface in threaded scripts and customization...
by francofusco
24 May 2017, 11:49
Forum: General questions
Topic: ROS Action Servers in V-Rep plugins
Replies: 4
Views: 5582

Re: ROS Action Servers in V-Rep plugins

Hi Federico,

Thanks for your feedback, you gave me many useful suggestions. I will try to improve my code, based on what you suggested me.

Have a nice day!
by francofusco
24 May 2017, 07:45
Forum: General questions
Topic: Rosinterface publish message error
Replies: 1
Views: 878

Re: Rosinterface publish message error

Hello, Try to define the message as: twist_msg = { header={ seq=0, stamp=simGetSystemTime(), frame_id="base_footprint" }, twist={ linear={x=1,y=2,z=3}, angular={x=-1,y=-2,z=-3} } } That works for me! I think you are just missing the x,y,z declarations in the linear and angular components. I mean tha...
by francofusco
22 May 2017, 09:32
Forum: General questions
Topic: ROS Action Servers in V-Rep plugins
Replies: 4
Views: 5582

Re: ROS Action Servers in V-Rep plugins

Hello Federico, Here is the code of "vrep_plugin_skeleton.cpp" (only the v_repStart method, since I kept the rest unchanged!): // This is the plugin start routine (called just once, just after the plugin was loaded): VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt) { //...
by francofusco
19 May 2017, 14:03
Forum: General questions
Topic: ROS Action Servers in V-Rep plugins
Replies: 4
Views: 5582

ROS Action Servers in V-Rep plugins

Hello! I was wandering how is it possible to "wrap" an Action Server within a V-Rep plugin. As a quick trial, I took the AveragingAction class (http://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28GoalCallbackMethod%29) and modified as follows: class MyAveragingAction { public: MyA...
by francofusco
19 May 2017, 11:30
Forum: General questions
Topic: Qt-based Custom UI problem
Replies: 2
Views: 6198

Re: Qt-based Custom UI problem

Hi! Basically, you just need to create the definition of the UI using the custom xml syntax. You store such information within a string and you call simExtCustomUI_create(your_xml_description). Then, remeber to call the destroy function if you do not need the UI anymore! This is a (simple and dumb) ...
by francofusco
16 May 2017, 10:15
Forum: General questions
Topic: [Solved] Problem with Collision Checking
Replies: 2
Views: 5018

Re: Problem with Collision Checking

Shame on me!

Just found I was simply checking collision for the wrong objects. Indeed, I had a "body" collection and a "body_simpl" one. I was using the wrong one...

But thanks anyway!
by francofusco
15 May 2017, 15:54
Forum: General questions
Topic: Forward Kinematic UR5 Matlab
Replies: 6
Views: 6044

Re: Forward Kinematic UR5 Matlab

Hi! i can't understand why it gives me only 5 rows of the dh-table(there are 6 different joints) The reason is that the DH parameters extractor works with couples of joints, and assumes the base-frame to be located at the first joint. It means that it will give you the offsets/rotations for 5 differ...