Hi,

i try to connect ROS from a virtual box (ubuntu 16.04 + kinetic) with a real universal robot (ur3.5.1). I used the moderndriver and the moveit config from universalrobot package. I am able to ping to the robot and the actual position is shown up in the RVIZ interface (even if you move the robot), BUT if i try to plan and execute a trajectory it 'fails' and the robot doesen't move. Also the test_move.py don't work (the connection is build successfully but the robot don't move). On the teach penal of the robot i don't set any special config (just unlock the joints and enable networking) Do you have any idea? Maybe it is because of the virtual box?

Thank you!

Driver:

>`tim@ROS-PC:~$ roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=192.168.0.3
... logging to /home/tim/.ros/log/b96c09dc-e8d5-11e8-b0b0-080027b2a5ed/roslaunch-ROS-PC-2278.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://localhost:46087/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /ur_driver/base_frame: base
 * /ur_driver/max_joint_difference: 0.01
 * /ur_driver/max_payload: 3.0
 * /ur_driver/max_velocity: 10.0
 * /ur_driver/max_waiting_time: 2.0
 * /ur_driver/min_payload: 0.0
 * /ur_driver/prefix: 
 * /ur_driver/require_activation: Never
 * /ur_driver/robot_ip_address: 192.168.0.3
 * /ur_driver/servoj_gain: 100.0
 * /ur_driver/servoj_lookahead_time: 1.0
 * /ur_driver/servoj_time: 0.008
 * /ur_driver/servoj_time_waiting: 0.001
 * /ur_driver/shutdown_on_disconnect: True
 * /ur_driver/time_interval: 0.008
 * /ur_driver/tool_frame: tool0_controller
 * /ur_driver/use_lowbandwidth_trajectory_follower: False
 * /ur_driver/use_ros_control: False

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ur_driver (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [2292]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b96c09dc-e8d5-11e8-b0b0-080027b2a5ed
process[rosout-1]: started with pid [2305]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2308]
process[ur_driver-3]: started with pid [2323]
[ INFO] [1542286530.435668630]: Setting up connection: 192.168.0.3:30003
[ INFO] [1542286530.450635527]: Connection established for 192.168.0.3:30003
[ INFO] [1542286530.450806340]: Setting up connection: 192.168.0.3:30001
[ INFO] [1542286530.452408980]: Connection established for 192.168.0.3:30001
[ INFO] [1542286530.458575005]: Got VersionMessage:
[ INFO] [1542286530.458634085]: project name: URControl
[ INFO] [1542286530.458665122]: version: 3.5.1
[ INFO] [1542286530.458695556]: build date: 12-12-2017, 11:25:40
[ INFO] [1542286530.458728250]: Disconnecting from 192.168.0.3:30001
[ INFO] [1542286530.492961865]: ActionServer enabled
[ INFO] [1542286530.493071996]: Use standard trajectory follower
[ INFO] [1542286530.497557112]: Setting up connection: :50001
[ INFO] [1542286530.497790485]: Connection established for :50001
[ INFO] [1542286530.497987392]: Initializing ur_driver/URScript subscriber
[ INFO] [1542286530.504972677]: The ur_driver/URScript initialized
[ INFO] [1542286530.505075917]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1542286530.513697572]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1542286530.513775597]: Starting main loop
[ INFO] [1542286530.514182378]: Starting pipeline RTPacket
[ INFO] [1542286530.514507689]: Setting up connection: 192.168.0.3:30003
[ INFO] [1542286530.514639898]: Setting up connection: 192.168.0.3:30002
[ INFO] [1542286530.514699348]: Starting pipeline StatePacket
[ INFO] [1542286530.516334795]: Connection established for 192.168.0.3:30003
[ INFO] [1542286530.517365609]: Starting ActionServer
[ INFO] [1542286530.517712303]: Trajectory thread started
[ INFO] [1542286530.518147332]: Connection established for 192.168.0.3:30002

after plan and execute:
[ INFO] [1542286828.809732709]: Received new goal
[ INFO] [1542286828.809881742]: Trajectory received and accepted
[ INFO] [1542286828.809996213]: Translating trajectory
[ INFO] [1542286828.810045105]: Executing trajectory with 10 points and duration of 1.170s
[ INFO] [1542286828.810147903]: Attempting to start follower 0x9f6fe78
[ INFO] [1542286828.810239362]: Uploading trajectory program to robot
[ INFO] [1542286828.809732709]: Received new goal

RVIZ after plan and execute:

[ INFO] [1542287075.829970003]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1542287075.830316596]: Planning attempt 1 of at most 1
[ INFO] [1542287075.832333306]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1542287075.833640334]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.833721744]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.834002134]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.834273929]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.847568467]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.853250226]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1542287075.854679245]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1542287075.854937318]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1542287075.855350644]: ParallelPlan::solve(): Solution found by one or more threads in 0.022344 seconds
[ INFO] [1542287075.855751066]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.855954968]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.858739493]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.859363453]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.861892525]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.866489735]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.871355743]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.871768590]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.872176040]: ParallelPlan::solve(): Solution found by one or more threads in 0.016534 seconds
[ INFO] [1542287075.872581324]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.874248886]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1542287075.875898409]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.878196130]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1542287075.878643782]: ParallelPlan::solve(): Solution found by one or more threads in 0.006284 seconds
[ INFO] [1542287075.897786350]: SimpleSetup: Path simplification took 0.018958 seconds and changed from 3 to 2 states