Visualizing and controlling robots via ROS

Zhao_Su
Tue, 12 Nov 2019 07:37:58 +0000
Support

Last month I asked about how to set up robot arm in Slicer on the Slicer discourse. Thanks for Ungi’s reply. Now I just finish the slides on rosmed.github.io with the REAL UR5 robot. It is an amazing project. There are some question I wanna to ask about the project:

1, I want to use my own tool(needle), I dont know how to compute the needletip’s transform in slicer. I appreciate that if you tell me. So I can click “place from” , the markup will appear at my tool’s tip.

2, When I send the Target and Entry Markups to the ROS, the robot execute it directly. Could I achieve that like I send the points , then I see the path in the Rviz, the program ask me “Would you execute it?”, I set Y, the robot will move. If that could happen, which program should I modify?

3, Mostly the path from the motion planning is not really good , even a lot of times the robot won’t be there(the Target and Entry). I know it is about Moveit. Is this normal? And could you give me some advice?

4, When I get the PlanReference(the Plan Markups harden transform from RasToReference), is this Markups in the Robot coordinate? If I compute the (x, y , z, rx, ry, rz) from the PlanReference Markups, and directly send it to robot(not via ROS), Will the robot be in the position I want?

Thank you very much for your patience in answering my questions every time. I really appreciate about that.

8 posts - 5 participants