古老师您好，请问多轨迹连续运动部分有对应的Python代码吗？在哪里可以找到呢？还是需要购买呀？

请问下，moveit做机械臂运动仿真，做完逆解移动臂架时，能否约束各个关节的运动顺序

请问下古老师，在moveit里面我想显示机械臂的工作空间，有没有什么好一点的方法或者建议吗？

古月居老师，我想请教一下，在控制机械臂运动时候，除了在rviz中可以显示末端的轨迹，能否将末端轨迹的数据保存下来导出呢？

老师您好，我在做机械臂笛卡尔规划时，做的圆弧轨迹，发现在135-230这一段轨迹始终无法按照目标位姿点走，请问这是为什么呢？

老师您好,我用python程序去规划路径发现机器人是准确的,但是用C++程序去规划发现机器人走的就不是准确的,我用的都是同一个求解器

古月老师，你好！我在笛卡尔computeCartesianPath()规划时遇到一个问题，想请教一下你。我给一个目标点求解直线时一直求解失败，覆盖率fraction值为小于1.0。我也尝试过以当前位姿的坐标轴形式平移一段距离作为目标位姿求解也是失败。但是如果不求解直线，进行ik空间规划可以到达目标点。请问这是什么原因呢？我可以从哪方面解决这个问题？

古老师，你好！我最近在一个程序里使用了关节角的运动规划和笛卡尔computeCartesianPath()规划，通过setMaxAccelerationScalingFator()和setMaxVelocityScalingFactor()对速度和加速度进行限制，结果发现在目标是关节角的规划运动速度很慢，而computeCartesianPath()规划出来后，机械臂运行很快，感觉速度没有收到限制。请问该怎么对computeCartesianPath()规划进行速度限制呢？

古老师，那如果是这种情况呢？要怎么处理才好 dreamer@ubuntu:~/test/src/three_moveit_config/launch$ roslaunch demo.launch ... logging to /home/dreamer/.ros/log/97c8385e-82d2-11e9-b9e9-000c2919e353/roslaunch-ubuntu-22346.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 306, in main p.start() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 685, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 627, in _include_tag default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 655, in _recurse_load default_machine, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 681, in _recurse_load self._rosparam_tag(tag, context, ros_config, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 239, in _rosparam_tag self.load_rosparam(context, ros_config, cmd, param, file, value, verbose=verbose, subst_function=subst_function) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py", line 430, in load_rosparam self.add_param(ros_config, full_param, data, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py", line 357, in add_param self.add_param(ros_config, ns_join(param_name, k), v, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/loader.py", line 357, in add_param self.add_param(ros_config, ns_join(param_name, k), v, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/names.py", line 172, in ns_join if is_private(name) or is_global(name): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosgraph/names.py", line 133, in is_private return name and name[0] == PRIV_NAME TypeError: 'int' object has no attribute '__getitem__' 谢谢老师的指点

老师您好，我的模型是六轴加一个打磨头，在书上10.9.2做工作空间规划时，我按照书中步骤，运行时出现这样的问题： Could not find the planner configuration 'None' on the param server [ERROR] [1557493702.607948236]: RRTConnect: Unable to sample any valid states for goal tree [ INFO] [1557493702.608001018]: RRTConnect: Created 1 states (1 start + 0 goal) [ INFO] [1557493702.608022100]: No solution found after 5.006618 seconds [ INFO] [1557493702.632580424]: Unable to solve the planning problem [ INFO] [1557493702.633094763]: Execution request received [ INFO] [1557493702.988561284]: Completed trajectory execution with status SUCCEEDED ... 这样的类似错误有好几个 导致Fail: ABORTED: No motion plan found. No execution attempted. 我做的改动是在rosbot.srdf中增加了如下内容： ，Link 7就是我的打磨头。谢谢老师

古月老师你好,在微信群里有问题想问你可是你一直都比较忙有的时候没空看,所以来这里留个言. 听说你做机械臂开发,不知道这个问题你知不知道:假设我要在ROS下自己规划一条轨迹然后发送给joint_trajectory,那么首先我就得先定义一个joint_trajectory,这个Joint_trajectory是空的,然后我添加机械臂的名字joint_nams时直接push_back就添加成功了,但是我想要把自己规划的轨迹的Points添加到这个Joint_trajectory里面,却怎么也加不进去,是不是要自己先写一个跟joint_trajectory格式的机械臂的points的结构体才能添加?

這個velocity_scaling的方法非常簡單粗暴，點個贊！ 測試了好多種Cartesian Path的調節速度的方法，終於找到一個能用的了~

胡老师，您好，学生有几个问题想向您请教，我从solidwork里面导出了urdf文件 ，并且在movit里面配置了文件，并且通过catkin_make编译过工作空间了，显示成功导出了包，但是当我运行demo.launch的时候出现了以下报错 roslaunch robot_config demo.launch INFO: cannot create a symlink to latest log directory: [Errno 13] Permission denied: '/home/simon/.ros/log/latest' WARNING: unable to configure logging. No log files will be generated Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. Traceback (most recent call last): File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 322, in main p.start() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 277, in start self._start_infrastructure() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 226, in _start_infrastructure self._load_config() File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/parent.py", line 138, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/config.py", line 457, in load_config_default loader.load(f, config, argv=args, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 751, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 723, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 687, in _recurse_load val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 629, in _include_tag default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 657, in _recurse_load default_machine, is_core, verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 683, in _recurse_load self._rosparam_tag(tag, context, ros_config, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, **kwds) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 241, in _rosparam_tag self.load_rosparam(context, ros_config, cmd, param, file, value, verbose=verbose, subst_function=subst_function) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py", line 433, in load_rosparam self.add_param(ros_config, full_param, data, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py", line 364, in add_param self.add_param(ros_config, ns_join(param_name, k), v, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/loader.py", line 364, in add_param self.add_param(ros_config, ns_join(param_name, k), v, verbose=verbose) File "/opt/ros/melodic/lib/python2.7/dist-packages/rosgraph/names.py", line 172, in ns_join if is_private(name) or is_global(name): File "/opt/ros/melodic/lib/python2.7/dist-packages/rosgraph/names.py", line 133, in is_private return name and name[0] == PRIV_NAME TypeError: 'int' object has no attribute '__getitem__' 我已经重装过ros 重装过ubuntu 了 可是仍旧出现这个错 清老师给我分析分析

月哥哥，通过moveit控制gazebo中的机械臂的时候，出现了这个问题，您遇见过吗？ Dropping first 1 trajectory point(s) out of 27, as they occur before the current time. First valid point will be reached in 0.239s. gazebo中的机械臂会动，rviz中会停在开始的地方。

胡老师好！我在你的ros机器人开发实践这本书的10.7，添加arbotix关节控制器这一章节中，尝试着跑下你的教程，控制一个六轴的机械臂运动，配置文件，py源码都是按照你书上的来写的，只是换了一个模型，但是运行的时候臂架在rviz中根本不动，提示：[INFO] [1555923605.106513]: left_controller: Action goal recieved. [INFO] [1555923605.107088]: Executing trajectory [INFO] [1555923608.109254]: left_controller: Done. [WARN] [1555923608.141007]: Inbound TCP/IP connection failed: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details. 这是什么问题导致的机械臂不动啊

[ERROR] [1555400928.114091131]: Validation failed: Trajectory doesn't start at current position.这个错误怎么解决？？

古老师，我的机器人结构中有一两个关节是移动关节，但是moveit教程中使用的控制器是Arbotix，好像针对的是旋转关节，请问有什么关节控制器的推荐或者案例教程吗

古老师，我在用cartographer跑自己的bag，可是一直有问题，我是参考cartographer的文档修改的，请问配置需要注意些什么呢？

月哥哥，这一课的代码在哪能找到呀？我想学习学习 :razz: ，还是 要花钱买呀