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verified publisher icon UniversalRobots

UR10e can connect the pc,but doesn't move it

Open tt2cloud opened this issue 5 years ago • 10 comments

Summary

Hi, Dear all, I found a problem,the UR10e can connect the PC,I can see the gesture of ur10e under rviz, but when I use moveit to move it, I find that the real Hardware cannot move, and the error is as follows：

Introduction to the issue

Versions

ROS Driver version:ubuntu16.04+kinetic Affected Robot Software Version(s): 5.6.0 Affected Robot Hardware Version(s): UR10e URCaps Software version(s):external control 1.0.1

terminal 1:roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=192.168.1.10 SUMMARY PARAMETERS

/controller_stopper/consistent_controllers: ['joint_state_con... /force_torque_sensor_controller/publish_rate: 500 /force_torque_sensor_controller/type: force_torque_sens... /hardware_control_loop/loop_hz: 500 /hardware_interface/joints: ['shoulder_pan_jo... /joint_group_vel_controller/joints: ['shoulder_pan_jo... /joint_group_vel_controller/type: velocity_controll... /joint_state_controller/publish_rate: 500 /joint_state_controller/type: joint_state_contr... /pos_traj_controller/action_monitor_rate: 10 /pos_traj_controller/constraints/elbow_joint/goal: 0.1 /pos_traj_controller/constraints/elbow_joint/trajectory: 0.2 /pos_traj_controller/constraints/goal_time: 0.6 /pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 /pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 /pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 /pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 /pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05 /pos_traj_controller/constraints/wrist_1_joint/goal: 0.1 /pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 /pos_traj_controller/constraints/wrist_2_joint/goal: 0.1 /pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 /pos_traj_controller/constraints/wrist_3_joint/goal: 0.1 /pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 /pos_traj_controller/joints: ['shoulder_pan_jo... /pos_traj_controller/state_publish_rate: 500 /pos_traj_controller/stop_trajectory_duration: 0.5 /pos_traj_controller/type: position_controll... /robot_description: <?xml version="1.... /robot_status_controller/handle_name: industrial_robot_... /robot_status_controller/publish_rate: 10 /robot_status_controller/type: industrial_robot_... /rosdistro: kinetic /rosversion: 1.12.14 /scaled_pos_traj_controller/action_monitor_rate: 10 /scaled_pos_traj_controller/constraints/elbow_joint/goal: 0.1 /scaled_pos_traj_controller/constraints/elbow_joint/trajectory: 0.2 /scaled_pos_traj_controller/constraints/goal_time: 0.6 /scaled_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 /scaled_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 /scaled_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 /scaled_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 /scaled_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05 /scaled_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1 /scaled_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 /scaled_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1 /scaled_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 /scaled_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1 /scaled_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 /scaled_pos_traj_controller/joints: ['shoulder_pan_jo... /scaled_pos_traj_controller/state_publish_rate: 500 /scaled_pos_traj_controller/stop_trajectory_duration: 0.5 /scaled_pos_traj_controller/type: position_controll... /scaled_vel_traj_controller/action_monitor_rate: 10 /scaled_vel_traj_controller/constraints/elbow_joint/goal: 0.1 /scaled_vel_traj_controller/constraints/elbow_joint/trajectory: 0.1 /scaled_vel_traj_controller/constraints/goal_time: 0.6 /scaled_vel_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 /scaled_vel_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 /scaled_vel_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 /scaled_vel_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 /scaled_vel_traj_controller/constraints/stopped_velocity_tolerance: 0.05 /scaled_vel_traj_controller/constraints/wrist_1_joint/goal: 0.1 /scaled_vel_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 /scaled_vel_traj_controller/constraints/wrist_2_joint/goal: 0.1 /scaled_vel_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 /scaled_vel_traj_controller/constraints/wrist_3_joint/goal: 0.1 /scaled_vel_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 /scaled_vel_traj_controller/gains/elbow_joint/d: 0.1 /scaled_vel_traj_controller/gains/elbow_joint/i: 0.05 /scaled_vel_traj_controller/gains/elbow_joint/i_clamp: 1 /scaled_vel_traj_controller/gains/elbow_joint/p: 5.0 /scaled_vel_traj_controller/gains/shoulder_lift_joint/d: 0.1 /scaled_vel_traj_controller/gains/shoulder_lift_joint/i: 0.05 /scaled_vel_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 /scaled_vel_traj_controller/gains/shoulder_lift_joint/p: 5.0 /scaled_vel_traj_controller/gains/shoulder_pan_joint/d: 0.1 /scaled_vel_traj_controller/gains/shoulder_pan_joint/i: 0.05 /scaled_vel_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 /scaled_vel_traj_controller/gains/shoulder_pan_joint/p: 5.0 /scaled_vel_traj_controller/gains/wrist_1_joint/d: 0.1 /scaled_vel_traj_controller/gains/wrist_1_joint/i: 0.05 /scaled_vel_traj_controller/gains/wrist_1_joint/i_clamp: 1 /scaled_vel_traj_controller/gains/wrist_1_joint/p: 5.0 /scaled_vel_traj_controller/gains/wrist_2_joint/d: 0.1 /scaled_vel_traj_controller/gains/wrist_2_joint/i: 0.05 /scaled_vel_traj_controller/gains/wrist_2_joint/i_clamp: 1 /scaled_vel_traj_controller/gains/wrist_2_joint/p: 5.0 /scaled_vel_traj_controller/gains/wrist_3_joint/d: 0.1 /scaled_vel_traj_controller/gains/wrist_3_joint/i: 0.05 /scaled_vel_traj_controller/gains/wrist_3_joint/i_clamp: 1 /scaled_vel_traj_controller/gains/wrist_3_joint/p: 5.0 /scaled_vel_traj_controller/joints: ['shoulder_pan_jo... /scaled_vel_traj_controller/state_publish_rate: 500 /scaled_vel_traj_controller/stop_trajectory_duration: 0.5 /scaled_vel_traj_controller/type: velocity_controll... /scaled_vel_traj_controller/velocity_ff/elbow_joint: 1.0 /scaled_vel_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 /scaled_vel_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 /scaled_vel_traj_controller/velocity_ff/wrist_1_joint: 1.0 /scaled_vel_traj_controller/velocity_ff/wrist_2_joint: 1.0 /scaled_vel_traj_controller/velocity_ff/wrist_3_joint: 1.0 /speed_scaling_state_controller/publish_rate: 500 /speed_scaling_state_controller/type: ur_controllers/Sp... /ur_hardware_interface/headless_mode: False /ur_hardware_interface/input_recipe_file: /home/yun/catkin_... /ur_hardware_interface/kinematics/forearm/pitch: 0 /ur_hardware_interface/kinematics/forearm/roll: 0 /ur_hardware_interface/kinematics/forearm/x: -0.6127 /ur_hardware_interface/kinematics/forearm/y: 0 /ur_hardware_interface/kinematics/forearm/yaw: 0 /ur_hardware_interface/kinematics/forearm/z: 0 /ur_hardware_interface/kinematics/hash: calib_51197013707... /ur_hardware_interface/kinematics/shoulder/pitch: 0 /ur_hardware_interface/kinematics/shoulder/roll: 0 /ur_hardware_interface/kinematics/shoulder/x: 0 /ur_hardware_interface/kinematics/shoulder/y: 0 /ur_hardware_interface/kinematics/shoulder/yaw: 0 /ur_hardware_interface/kinematics/shoulder/z: 0.1807 /ur_hardware_interface/kinematics/upper_arm/pitch: 0 /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 /ur_hardware_interface/kinematics/upper_arm/x: 0 /ur_hardware_interface/kinematics/upper_arm/y: 0 /ur_hardware_interface/kinematics/upper_arm/yaw: 0 /ur_hardware_interface/kinematics/upper_arm/z: 0 /ur_hardware_interface/kinematics/wrist_1/pitch: 0 /ur_hardware_interface/kinematics/wrist_1/roll: 0 /ur_hardware_interface/kinematics/wrist_1/x: -0.57155 /ur_hardware_interface/kinematics/wrist_1/y: 0 /ur_hardware_interface/kinematics/wrist_1/yaw: 0 /ur_hardware_interface/kinematics/wrist_1/z: 0.17415 /ur_hardware_interface/kinematics/wrist_2/pitch: 0 /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 /ur_hardware_interface/kinematics/wrist_2/x: 0 /ur_hardware_interface/kinematics/wrist_2/y: -0.11985 /ur_hardware_interface/kinematics/wrist_2/yaw: 0 /ur_hardware_interface/kinematics/wrist_2/z: -2.45816459076e-11 /ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359 /ur_hardware_interface/kinematics/wrist_3/roll: 1.57079632659 /ur_hardware_interface/kinematics/wrist_3/x: 0 /ur_hardware_interface/kinematics/wrist_3/y: 0.11655 /ur_hardware_interface/kinematics/wrist_3/yaw: 3.14159265359 /ur_hardware_interface/kinematics/wrist_3/z: -2.39048045935e-11 /ur_hardware_interface/output_recipe_file: /home/yun/catkin_... /ur_hardware_interface/reverse_port: 50001 /ur_hardware_interface/robot_ip: 192.168.1.10 /ur_hardware_interface/script_file: /home/yun/catkin_... /ur_hardware_interface/script_sender_port: 50002 /ur_hardware_interface/tf_prefix: /ur_hardware_interface/tool_baud_rate: 115200 /ur_hardware_interface/tool_parity: 0 /ur_hardware_interface/tool_rx_idle_chars: 1.5 /ur_hardware_interface/tool_stop_bits: 1 /ur_hardware_interface/tool_tx_idle_chars: 3.5 /ur_hardware_interface/tool_voltage: 0 /ur_hardware_interface/use_tool_communication: False /vel_traj_controller/action_monitor_rate: 10 /vel_traj_controller/constraints/elbow_joint/goal: 0.1 /vel_traj_controller/constraints/elbow_joint/trajectory: 0.1 /vel_traj_controller/constraints/goal_time: 0.6 /vel_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 /vel_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 /vel_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 /vel_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 /vel_traj_controller/constraints/stopped_velocity_tolerance: 0.05 /vel_traj_controller/constraints/wrist_1_joint/goal: 0.1 /vel_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 /vel_traj_controller/constraints/wrist_2_joint/goal: 0.1 /vel_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 /vel_traj_controller/constraints/wrist_3_joint/goal: 0.1 /vel_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 /vel_traj_controller/gains/elbow_joint/d: 0.1 /vel_traj_controller/gains/elbow_joint/i: 0.05 /vel_traj_controller/gains/elbow_joint/i_clamp: 1 /vel_traj_controller/gains/elbow_joint/p: 5.0 /vel_traj_controller/gains/shoulder_lift_joint/d: 0.1 /vel_traj_controller/gains/shoulder_lift_joint/i: 0.05 /vel_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 /vel_traj_controller/gains/shoulder_lift_joint/p: 5.0 /vel_traj_controller/gains/shoulder_pan_joint/d: 0.1 /vel_traj_controller/gains/shoulder_pan_joint/i: 0.05 /vel_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 /vel_traj_controller/gains/shoulder_pan_joint/p: 5.0 /vel_traj_controller/gains/wrist_1_joint/d: 0.1 /vel_traj_controller/gains/wrist_1_joint/i: 0.05 /vel_traj_controller/gains/wrist_1_joint/i_clamp: 1 /vel_traj_controller/gains/wrist_1_joint/p: 5.0 /vel_traj_controller/gains/wrist_2_joint/d: 0.1 /vel_traj_controller/gains/wrist_2_joint/i: 0.05 /vel_traj_controller/gains/wrist_2_joint/i_clamp: 1 /vel_traj_controller/gains/wrist_2_joint/p: 5.0 /vel_traj_controller/gains/wrist_3_joint/d: 0.1 /vel_traj_controller/gains/wrist_3_joint/i: 0.05 /vel_traj_controller/gains/wrist_3_joint/i_clamp: 1 /vel_traj_controller/gains/wrist_3_joint/p: 5.0 /vel_traj_controller/joints: ['shoulder_pan_jo... /vel_traj_controller/state_publish_rate: 500 /vel_traj_controller/stop_trajectory_duration: 0.5 /vel_traj_controller/type: velocity_controll... /vel_traj_controller/velocity_ff/elbow_joint: 1.0 /vel_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 /vel_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 /vel_traj_controller/velocity_ff/wrist_1_joint: 1.0 /vel_traj_controller/velocity_ff/wrist_2_joint: 1.0 /vel_traj_controller/velocity_ff/wrist_3_joint: 1.0 NODES / controller_stopper (controller_stopper/node) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master process[master]: started with pid [21219] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 01bf07ae-aead-11ea-8acd-c8d9d21823f2 process[rosout-1]: started with pid [21235] started core service [/rosout] process[robot_state_publisher-2]: started with pid [21252] process[ur_hardware_interface-3]: started with pid [21253] process[ros_control_controller_spawner-4]: started with pid [21254] [ INFO] [1592186868.213219306]: Main thread: SCHED_FIFO OK [ INFO] [1592186868.213276896]: Main thread priority is 99 process[ros_control_stopped_spawner-5]: started with pid [21256] [ INFO] [1592186868.225138723]: Initializing dashboard client process[controller_stopper-6]: started with pid [21289] [ INFO] [1592186868.227471563]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [21317] [ INFO] [1592186868.246475605]: Waiting for controller manager service to come up on /controller_manager/switch_controller [ INFO] [1592186868.247192942]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [ INFO] [1592186868.248888770]: Initializing urdriver [ INFO] [1592186868.249298563]: Checking if calibration data matches connected robot. [ INFO] [1592186868.249780433]: Producer thread: SCHED_FIFO OK [ INFO] [1592186868.249807314]: Thread priority is 99 [INFO] [1592186868.600482]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1592186868.605806]: Controller Spawner: Waiting for service controller_manager/load_controller [ERROR] [1592186868.840918134]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [TODO Link to documentation] for details. [ INFO] [1592186869.342793032]: Producer thread: SCHED_FIFO OK [ INFO] [1592186869.342824734]: Thread priority is 99 [ INFO] [1592186869.345146063]: Setting up RTDE communication with frequency 500.000000 [ INFO] [1592186870.405027445]: Producer thread: SCHED_FIFO OK [ INFO] [1592186870.405110175]: Thread priority is 99 [ INFO] [1592186870.405315922]: Loaded ur_robot_driver hardware_interface [ INFO] [1592186870.478134709]: waitForService: Service [/controller_manager/switch_controller] is now available. [ INFO] [1592186870.478158576]: Service available. [ INFO] [1592186870.478172795]: Waiting for controller list service to come up on /controller_manager/list_controllers [ INFO] [1592186870.478815827]: Service available. [ INFO] [1592186870.653392582]: Robot's safety mode is now NORMAL [ INFO] [1592186870.654137721]: Robot mode is now RUNNING [INFO] [1592186870.725126]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1592186870.726771]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1592186870.728484]: Loading controller: pos_traj_controller [INFO] [1592186870.772901]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1592186870.774659]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1592186870.777078]: Loading controller: joint_state_controller [INFO] [1592186870.791141]: Loading controller: joint_group_vel_controller [INFO] [1592186870.797145]: Loading controller: scaled_pos_traj_controller [INFO] [1592186870.807086]: Controller Spawner: Loaded controllers: pos_traj_controller, joint_group_vel_controller [INFO] [1592186870.865058]: Loading controller: speed_scaling_state_controller [INFO] [1592186870.870794]: Loading controller: force_torque_sensor_controller [INFO] [1592186870.876848]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1592186870.881050]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

terminal 2:roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true

SUMMARY PARAMETERS

/move_group/allow_trajectory_execution: True /move_group/capabilities: move_group/MoveGr... /move_group/controller_list: [{'action_ns': 'f... /move_group/endeffector/planner_configs: ['SBLkConfigDefau... /move_group/jiggle_fraction: 0.05 /move_group/manipulator/default_planner_config: RRTConnectkConfig... /move_group/manipulator/longest_valid_segment_fraction: 0.01 /move_group/manipulator/planner_configs: ['SBLkConfigDefau... /move_group/max_range: 5.0 /move_group/max_safe_path_cost: 1 /move_group/moveit_controller_manager: moveit_simple_con... /move_group/moveit_manage_controllers: True /move_group/octomap_resolution: 0.025 /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 /move_group/planner_configs/ESTkConfigDefault/range: 0.0 /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 /move_group/planner_configs/RRTkConfigDefault/range: 0.0 /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar /move_group/planner_configs/SBLkConfigDefault/range: 0.0 /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT /move_group/planning_plugin: ompl_interface/OM... /move_group/planning_scene_monitor/publish_geometry_updates: True /move_group/planning_scene_monitor/publish_planning_scene: True /move_group/planning_scene_monitor/publish_state_updates: True /move_group/planning_scene_monitor/publish_transforms_updates: True /move_group/request_adapters: default_planner_r... /move_group/start_state_max_bounds_error: 0.1 /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 /move_group/trajectory_execution/execution_duration_monitoring: False /move_group/use_controller_manager: False /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl... /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3 /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005 /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005 /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.14 /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.14 /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.14 /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.14 /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.14 /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.14 /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.14 /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 6.28 /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.14 /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 6.28 /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.14 /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 6.28 /robot_description_semantic: <?xml version="1.... /rosdistro: kinetic /rosversion: 1.12.14 NODES / move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

run_id on parameter server does not match declared run_id: 1a10caa2-aeaa-11ea-8acd-c8d9d21823f2 vs 1ab92c2e-aeaa-11ea-8acd-c8d9d21823f2 The traceback for the exception was written to the log file

terminal 3:roslaunch ur10_e_moveit_config moveit_rviz.launch config:=true

SUMMARY PARAMETERS

/rosdistro: kinetic /rosversion: 1.12.14 /rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver: kdl_kinematics_pl... /rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver_attempts: 3 /rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver_search_resolution: 0.005 /rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver_timeout: 0.005 NODES / rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362-1]: started with pid [21442] [ INFO] [1592186868.939600634]: rviz version 1.12.17 [ INFO] [1592186868.939654642]: compiled against Qt version 5.5.1 [ INFO] [1592186868.939670289]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1592186869.239777248]: Stereo is NOT SUPPORTED [ INFO] [1592186869.239831027]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1592186872.619957201]: Loading robot model 'ur10e'... [ WARN] [1592186872.619998862]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1592186872.620015029]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592186872.665450514]: Loading robot model 'ur10e'... [ WARN] [1592186872.665520289]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1592186872.665543086]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592186872.745662289]: Starting scene monitor [ INFO] [1592186872.750498514]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1592186872.751575959]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1592186877.771017975]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.18/planning_scene_monitor/src/planning_scene_monitor.cpp:491 [ INFO] [1592186878.387070246]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [ WARN] [1592186888.170743535]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch [ INFO] [1592186888.174848967]: Ready to take commands for planning group manipulator. [ INFO] [1592186888.174936096]: Looking around: no [ INFO] [1592186888.174970400]: Replanning: no [ WARN] [1592186888.219657827]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ INFO] [1592186896.486794619]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186897.554862345]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186897.723628495]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186897.888216744]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186898.400788714]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186898.677292720]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186899.191149315]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186899.903129697]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186901.386982485]: Replanning: yes [ INFO] [1592186902.782810630]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186903.865067708]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186905.108830083]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186907.609091666]: Looking around: yes [ INFO] [1592186914.485051143]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186915.356293093]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186915.577693663]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186917.639029757]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186929.123774766]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186930.265397395]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186931.238410735]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186939.893111610]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186941.204564882]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186968.658662198]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186969.758597597]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186970.864241100]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186972.708550601]: ABORTED: Solution found but controller failed during execution 2020-06-15 09-50-00屏幕截图 terminal 4:rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller 2020-06-15 09-49-35屏幕截图 I tested the script file today rosrun ur_driver test_move.py ,but I found the real Hardware can't move. 2020-06-17 11-10-41屏幕截图

Could you help me solved the pronlems, Thank you advance!!@gavanderhoorn @fmauch

tt2cloud avatar Jun 17 '20 07:06 tt2cloud

First: 请别再说兄弟了

Also: don't use the ur_driver package.

gavanderhoorn avatar Jun 17 '20 07:06 gavanderhoorn

First: 请别再说兄弟了

Also: don't use the ur_driver package.

Hi, I am sorry for my behavior（对不起，我为我的行为感到抱歉） 您好，如果您能看懂中文，我就能很方便跟您交流了，感谢您之前一直回我信息，我目前也一直在调试UR10e，PC现在能连上UR10e，但是我在规划路径的时候，实体UR10e并不能动，如果需要修改程序，我该如何修改代码呢？您能帮我么，感谢！ If I don't use the ur_driver package，What driver package do I need to use？ Thanks in advance！

tt2cloud avatar Jun 17 '20 08:06 tt2cloud

I don't actually speak Chinese. That was Google translate.

If I don't use the ur_driver package，What driver package do I need to use

you're already using a driver, namely ur_robot_driver.

What you shouldn't be using is the test_move.py script.

Instead, use rqt_joint_trajectory_controller.

You'll need to select the correct controller in the drop down on the right though.

Also: don't start MoveIt to test the driver. It's not needed. Please first verify that the driver works by moving the robot with the rqt_joint_trajectory_controller.

gavanderhoorn avatar Jun 17 '20 13:06 gavanderhoorn

I don't actually speak Chinese. That was Google translate.

If I don't use the ur_driver package，What driver package do I need to use

you're already using a driver, namely ur_robot_driver.

What you shouldn't be using is the test_move.py script.

Instead, use rqt_joint_trajectory_controller.

You'll need to select the correct controller in the drop down on the right though.

Also: don't start MoveIt to test the driver. It's not needed. Please first verify that the driver works by moving the robot with the rqt_joint_trajectory_controller.

OK, I will try it tomorrow. Thank you!

tt2cloud avatar Jun 17 '20 14:06 tt2cloud

I don't actually speak Chinese. That was Google translate.

If I don't use the ur_driver package，What driver package do I need to use

you're already using a driver, namely ur_robot_driver. What you shouldn't be using is the test_move.py script. Instead, use rqt_joint_trajectory_controller. You'll need to select the correct controller in the drop down on the right though. Also: don't start MoveIt to test the driver. It's not needed. Please first verify that the driver works by moving the robot with the rqt_joint_trajectory_controller.

OK, I will try it tomorrow. Thank you!

Dear gavanderhoorn,I can already control the real Hardware UR10e through rqt_joint_trajectory_controller commands，thanks! But ,,I still can't control the real Hardware UR10e through rivz interface,Could you help me? thanks in advance!

tt2cloud avatar Jun 20 '20 07:06 tt2cloud

Dear gavanderhoorn,I want to use the Moveit API to realize the motion plan trajectory through the real Hardware UR10e. How to change the code? Or if you have information, please give me reference. thanks in advance!

tt2cloud avatar Jun 21 '20 05:06 tt2cloud

I think, https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/55#issuecomment-562215033 could be a place to start.

fmauch avatar Jun 21 '20 09:06 fmauch

I think, #55 (comment) could be a place to start. Thanks!! I published a new question above

tt2cloud avatar Jun 22 '20 06:06 tt2cloud

hi have you solved this problem already？I have the same problem， “ Waiting for /follow_joint_trajectory to come up Action client not connected :/follow_joint_trajectory ”

chentongtong121 avatar Dec 08 '20 12:12 chentongtong121

@chentongtong121 @tt2cloud Driver and library changed significantly. Is this issue still relevant?

stefanscherzinger avatar Sep 01 '21 14:09 stefanscherzinger

This issue has been closed due to inactivity. Feel free to comment or reopen if this is still relevant.

github-actions[bot] avatar Apr 12 '23 22:04 github-actions[bot]