Rviz cannot execute the planning trajectory in the physical robot UR3
Hi,
We're using roslaunch ur3_moveit_config moveit_rviz.launch config:=true to move a UR3 robot. We can receive the position of the robot in the simulator RViz, but we cannot send a motion to the robot. The problem seem to be with Moveit. We're using the modern_driver and the test_move.py also is not working.
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch
... logging to /home/malu/.ros/log/3f456222-bc50-11e8-ada1-00242c08dfd7/roslaunch-labmec-Latitude-E5400-23879.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.
started roslaunch server http://labmec-Latitude-E5400:39283/
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/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: 3.15
* /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
* /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: 3.15
* /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
* /robot_description_planning/joint_limits ...
Please post the full output of all your launches.
I know this is pedantic, but it's also really important that this gets re-iterated: RViz is not a simulator. It's a visualisation tool.
That would seem to indicate that there is something more fundamentally wrong with your current setup.
Without the information @Geoff asks for, we cannot help you.
Full output of all the launches is updated in the post. Thanks
I don't see you starting the
ur_modern_driveranywhere. That would be the cause oftest_move.pynot working.ur_modern_driver was previously runned in another terminal
I have the exact same problem. Did you found a solution so fare?
i use: - Kinetic (virtual box) - UR3 robot - modern_driver
Maybe it is because of the virtual box?
Is the
ur_modern_drivernode connected to the robots properly? Does MoveIt recognize it? Are there any error messages? Have you checked your network settings, especially if you are running in a VM?