Unable to execute UR scripts

[Pranav186]

Summary

Unable to execute UR scripts

Versions

Ubuntu 16.04 ROS Kinetic UR10e robot

Impact

Joint does not move on implementation of the script although there is no error on the terminal.

Issue details

Following is the code for the publisher node

#!/usr/bin/env python

import rospy from std_msgs.msg import String

rospy.init_node('vel_script_node') pub=rospy.Publisher('/ur_hardware_interface/script_command', String, queue_size=10) rate=rospy.Rate(10) vel_script="speedj([0,0,0,0,0,-1.0],0.5,0.5)"

while not rospy.is_shutdown(): pub.publish(vel_script) rate.sleep()

(It is indented properly.)

When i run this node, there is no error, but the joint does not move. rqt_graph shows that there is communication between the two nodes over the ur_hardware_interface/script_command topic. I have URCaps External control running. I have set the remote control mode in the pendant.

Would like some help.

Thanks, Pranav

[Pranav186]

The issue was solved. In the github documentation, the remote mode is said to be enabled by going to Settings-Systems-Remote Control. That did not work for me. There was an icon on the top right corner which enabled the remote mode.

[fmauch]

I'll leave this open as a reminder to update the documentation there.

In fact, one has to enable the remote-control mode(once) in the settings before that icon appears.

[sunnymints]

sorry, i want to get a help. I try to execute the same node command and “ rostopic pub /ur_hardware_interface/script_command std_msgs/String "data: 'movel([0.5,0.5,0.5,3.14,-1.57,1.57])'" ”on ur5 （URCap V-3.9.1），but it no any response. Beside, I can not find remote-control mode on our ur5 URCap.

[fmauch]

On CB3 robots this should work out of the box, there exists no such thing as remote_control mode.

I just checked and at least with URSim this seems to work:

shell1:

rosrun ur_client_library start_ursim.sh -m ur5

then, wait for the robot to be booted. You can access Polyscope in the web browser on http://192.168.56.101:6080/vnc.html. When not using URSim from the Docker image, make sure to switch on the robot.

shell2:

roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.56.101

shell3:

rviz -d $(rospack find ur_description)/cfg/view_robot.rviz

shell4:

rostopic pub /ur_hardware_interface/script_command std_msgs/String "data: 'movel([0.5,0.5,0.5,3.14,-1.57,1.57])'"

This should make the robot move (visible in RViz and Polyscope) to this pose:

I currently cannot test this on a real robot, but I'd expect the same behavior. If not, have a look at the robot's log panel.