Python package node behaving differently between simulated and real UR5 bot
Following the examples listed at https://github.com/ros-industrial/uni... , I have successfully configure and pinged an IP address in my ur5 teachpad. From my commanline, I issue the various roslaunch commands with the IP address and I am able to control the robot with the moveit package .
My custom python package is all about moving the ur5 end effector to a different pose. In the gazebo simulation the robot moves but when I tried executing on a real robot, nothing happens. I know the go function is what executes code on a live robot (my package is based on and uses moveit), as my code below show:
def move_to_pose(self, pose):
rospy.loginfo(pose)
self.manipulator.set_goal_tolerance(0.5)
self.manipulator.set_pose_target(pose)
plan = self.manipulator.plan()
self.manipulator.execute(plan) # display the trajectory in rviz. Follow the already computed plan
self.manipulator.go(wait=True) # execute in real robot
self.manipulator.stop() # ensure there is no residual movement
self.manipulator.clear_pose_targets() # clear targets after planning with poses
I would appreciate some help. I'm not sure why the simulation works but the live robot does not.
Any advice on how to diagnose this disconnect, please.