UR10 control with ROS Industrial failing with firmware 3.2.18744

Hello,

I've been using the ROS universal robotics code on a UR5 arm for a while, and tried using the code on a more recently obtained UR10. The deserialize.py code in ur_driver started dying because the packet being unpacked is an expected size (46 instead of the packet sizes that are known, 29 and 38).

Is anyone else running into this issue? Are the packets a new length because of the different firmware versions? Or are the packets a new length because I moved from UR5 to UR10

UR5 firmware version: 3.1.17779
UR10 firmware version: 3.2.18744
Place in deserialize where code is failing because plen==46: https://github.com/ros-industrial/universal_robot/blob/indigo-devel/ur_driver/src/ur_driver/deserialize.py#L72

Thanks!

Asked by Eric Schneider on 2016-05-04 13:48:48 UTC

Comments

Cross-posted to the ros-industrial mailing list here.

Asked by gvdhoorn on 2016-05-05 06:05:52 UTC

Answers

As I also answered on the ROS-Industrial mailing list, this is a known issue. Compatibility with newer system software versions has not been maintained for the ur_driver package. See also wiki/universal_robot, ros-industrial/universal_robot#183 and ros-industrial/universal_robot#199.

We recommend people try out the newer ur_modern_driver which has better compatibility with these recent controller versions.

Asked by gvdhoorn on 2016-05-05 06:08:00 UTC