How to use test_move.py and moveit

[suho0515]

Summary

It might be hard to control robot by using python script "test_move.py". I share simple manual.

Versions

• ROS Driver version: Melodic
• Affected Robot Software Version(s): 5.3.0
• Affected Robot Hardware Version(s): UR 3e
• Robot Serial Number: -
• UR+ product(s) installed: ExternalControl
• URCaps Software version(s): -

Solution

following Universal_Robots_ROS_Driver/ur_robot_driver/doc/ROS_INTERFACE.md

we should change the topic name from "follow_joint_trajectory" to "scaled_pos_joint_traj_controller/follow_joint_trajectory" of "~/catkin_ws/src/fmauch_universal_robot/ur_driver/test_move.py"

most Importantly, after change your "test_move.py" file. you should follow these steps.

1. power on the robot.
2. release brake of the robot.
3. run "roslaunch ur_robot_driver [YOUR_ROBOT_MODEL]_bringup.launch robot_ip:=[YOUR_ROBOT_IP]"
4. start URcap program "ExternalControl".
5. run "rosrun ur_driver test_move.py "

then your robot is gonna move follow the joint value you've set in "test_move.py".

Q1 = [1.7,-1.6,-0.87996,-2.12741,1.47178,-4.60472] Q2 = [1.6,-1.7,-0.87996,-2.12741,1.47178,-4.60472] Q3 = [1.5,-1.8,-0.87996,-2.12741,1.47178,-4.60472]

!!! Caution !!! You should not use the default value in "test_move.py". you should check the joint value of your robot, and gotta set it safely.

Ref: https://answers.ros.org/question/344391/ur_robot_driver-test_movepy-keeps-on-waiting-for-server/?answer=377525#post-id-377525

using it with moveit!

you should aware that, we control UR by using "scaled_pos_joint_traj_controller/follow_joint_trajectory" node.

so you gotta edit something like below.

in my case, I'm using UR3e, so move to the directory.

so open the "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch" file and change

<!-- Remap follow_joint_trajectory -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="arm_controller/follow_joint_trajectory"/>

to

<!-- Remap follow_joint_trajectory -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory" to="scaled_pos_joint_traj_controller/follow_joint_trajectory"/>

and open the "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/config/controllers.yaml"

and change

controller_list:
  - name: ""
    action_ns: follow_joint_trajectory

to

controller_list:
  - name: "scaled_pos_joint_traj_controller"
    action_ns: follow_joint_trajectory

after that,

1. power on the robot.
2. release brake of the robot.
3. run "roslaunch ur_robot_driver [YOUR_ROBOT_MODEL]_bringup.launch robot_ip:=[YOUR_ROBOT_IP]"
4. start URcap program "ExternalControl".
5. run "roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch"
6. run "roslaunch ur3_e_moveit_config moveit_rviz.launch config:=true"

then you could see the result below.

[pibaopi]

Hi，When I was debugging, I found that my "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/config/" package did not contain the controllers.yaml file you mentioned, only the ros_controllers.yaml and fake_controllers.yaml files. How should I change the parameters? Thank you!

[suho0515]

Hi，When I was debugging, I found that my "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/config/" package did not contain the controllers.yaml file you mentioned, only the ros_controllers.yaml and fake_controllers.yaml files. How should I change the parameters? Thank you!

Hi @pibaopi !

I want you to check out this first, what package did you download?

as you can see the package below, there is controllers.yaml file. https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur3_e_moveit_config/config

plz check out this one, and give me the feedback :)

[pibaopi]

Thank you very much for your reply @suho0515 ！ The package I downloaded is as follows. In this article, https://github.com/UniversalRobots/Universal_Robots_ROS_Driver I downloaded it directly according to the command in Building. $ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot I'm sorry I didn't find the corresponding package, I can only show you this way. Thanks again for your reply.

[fmauch]

https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur3_e_moveit_config/config is currently not supported, when using this driver. See https://github.com/ros-industrial/universal_robot/pull/538 for details. Therefore, the fork from https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot, branch calibration_devel should be used (which is essentially the same as the PR mentioned earlier).

The file got renamed in newer Moveit versions by default, so I followed that.

The same methods should be applicable to that, as well.