Guide: first steps

[joaocabogon]

Hey @jontromanab, thanks for the work! Could you guide me on how to use the reuleaux_moveit?

I have been trying to use reuleaux but I really need something that takes into account self-collisions. I have followed all your steps in reuleaux Wiki to use the package. To use reuleaux_moveit, which additional steps should I do?

[joaocabogon]

Update @jontromanab: I managed to create a reachability map but it does not take into account self-collisions. Let's say I have a base where my UR5 arm is attached on top. In my moveit config package, my "group" is just the UR5 but the URDF includes the UR5 and the base. So how is it giving me solutions for end-effector poses that collide with the base?

[jontromanab]

Hello @joaocabogon Can you please send me a screenshot of your reachability map created by the package. A screenshot of your robot setup will be great too.

[joaocabogon]

Below you can find the screenshot. I only show the the spheres for reachability index>30. The spheres behind the robot at the ground level should not be there since it is not possible for the UR5 arm to reach these points without colliding with the red base. Besides this, there are some spheres that are actually inside the red base body.

[jontromanab]

@joaocabogon Seems like it has found some IK solutions over there. I am not getting properly why it is not possible for the arm to reach there. It seems perfectly possible. You can try to move your arm with joint solutions in rviz and try to verify. Otherwise more detailed approach, try to obtain the position of the sphere and get IK solutions for that. (may be try to send a screenshot of your scene from the behind of the robot)

[joaocabogon]

@jontromanab I am also getting spheres inside the body of the robot (in the middle of the red base visible in the image above) which is obviously not possible due to collisions with the red base, do you know why is that?

[jontromanab]

@joaocabogon can you please provide some screenshots where the reachable sphere are inside the base?

[joaocabogon]

Here are 2 different views (you can see the ones "inside" the robot body are not so bright):