Search found 671 matches

by fferri
12 Sep 2020, 11:31
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 101

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

Smoothing is already done as part of the path simplification routines.
by fferri
12 Sep 2020, 10:50
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 101

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

The state space you used (pose2d, equivalent of OMPL SE(2) - rotation and translation in the plane) does not take into account the kinematic constraints of your robot.

Consider using the dubins state space.
by fferri
11 Sep 2020, 15:46
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 101

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

By the way, for real-world motion panning use cases, you don't want to move the actual robot around. That has at least two problems: it is slow, as the robot is made of several complex meshes OMPL will move the robot around a lot for collision checking, possibly messing up its dynamic representation...
by fferri
11 Sep 2020, 15:35
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 101

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

I'd create a collection for the robot (i.s. create a new collection, select "Tree of selected objects, incl. base, select 'Pioneer_p3dx' and add it). Then change your setCollisionPairs line to: simOMPL.setCollisionPairs(t,{sim.getCollectionHandle('robot'),sim.handle_all}) also, change robotHandle=si...
by fferri
10 Sep 2020, 09:48
Forum: General questions
Topic: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin
Replies: 8
Views: 101

Re: Return invalid start state in RRTstar path planning by V-REP OMPL Plugin

As per default state validation, invalid state means that your robot is in collision according to the collision pairs specified with simOMPL.setCollisionPairs(...) and the result of sim.checkCollision(...).
by fferri
10 Sep 2020, 09:39
Forum: General questions
Topic: using dummies as model's children
Replies: 1
Views: 26

Re: using dummies as model's children

When adding a model to the scene, and some of its objects' name already exists in the scene, the newer object is renamed (a number at the end of the object name is added or incremented) so that all names are unique. However, if the object is referenced from a child script , then a suffix (e.g.: #1 )...
by fferri
08 Sep 2020, 15:06
Forum: General questions
Topic: Error while trying to publish Pose message
Replies: 3
Views: 38

Re: Error while trying to publish Pose message

The plugin already depends on geometry_msgs package.

I don't know what's going on on your machine. Try starting from scratch on a clean workspace.
by fferri
08 Sep 2020, 14:57
Forum: General questions
Topic: Error while trying to publish Pose message
Replies: 3
Views: 38

Re: Error while trying to publish Pose message

In ROS2 the interface name would be geometry_msgs/msg/Pose
by fferri
07 Sep 2020, 16:55
Forum: General questions
Topic: Placing coloured circles on the ground
Replies: 3
Views: 80

Re: Placing coloured circles on the ground

RobAtLab wrote:
07 Sep 2020, 16:18
local SizeTable={0.1,0.1,0.0001}
local PrecTable={12,12}
local FoodHandle=sim.createPureShape(2,18,sizeTable,0,PrecTable)
misspelled variable name
by fferri
07 Sep 2020, 09:37
Forum: General questions
Topic: Creating disc objects? And putting scripts on them at creation time
Replies: 1
Views: 27

Re: Creating disc objects? And putting scripts on them at creation time

Hi, not sure why you can't create those shapes. You always have the alternative option to use sim.copyPasteObjects to duplicate any object that is in the scene. Then you can use sim.addScript , sim.associateScriptWithObject , sim.setScriptText to add a child script to the object. Or, if it is always...