Hi,

We have attached Robotiq 2f-140 gripper with UR5 robotic arm and we are using ur_robot_driver. The goal is to plan and execute movements with this hardware and enable grasps.

In another post, it was suggested two options that can achieve the above goal. So basically, I can use the first option described there. Robotic package included lanuch files to start an action server (having already connected to the host-computer through a serial-to-usb connection). The same package had some documentation that illustrates how to write a simple node for a basic gripper functionality, i.e., commands to open or close the gripper as well as to adjust the force etc.

However, there is another very important concern. Previously, the planning and execution was successfully achieved in MoveIt. I wanted to make gripper known to the planning framework so that the generated plans don't make gripper collide with the robot-surfaces or for example the surface where the robotic arm is mounted. For this reason the following xacro was created. This is the model for the workcell that includes

1. UR5 arm
2. robotiq 2f-140 gripper

3. a flat surface under UR5

   <?xml version="1.0" ?>

   <joint name="gripper_to_robot" type="fixed">
   <parent link="tool0"/>
   <child link="robotiq_arg2f_base_link"/>
   <origin xyz="0 0 0" rpy="0 0 1.5708"/>
   </joint>
   

The above xacro is input to the MoveIt Setup Assistant. In this way self-collision matrix should take care of the above concern ? i..e., generated plans do not make gripper hit the unwanted surfaces. Is my reasoning correct ?

After having generated the moveit configuration package, in RViz I can see the UR5 with the gripper properly rendered. The planning works fine as well. However, I am unable to execute any movements. I receive this error.

[ INFO] [1680801220.690414831]: Execution request received
[ERROR] [1680801220.692924345]: Can't accept new action goals. Controller is not running.
[ WARN] [1680801220.693657365]: Controller scaled_pos_joint_traj_controller failed with error INVALID_GOAL: 
[ WARN] [1680801220.693918430]: Controller handle scaled_pos_joint_traj_controller reports status FAILED
[ INFO] [1680801220.694033525]: Completed trajectory execution with status FAILED ...
[ INFO] [1680801220.694231160]: Execution completed: FAILED
[ INFO] [1680801220.715580305]: ABORTED: Solution found but controller failed during execution

The external program on the robot controller is running. The planning group only plans for the arm (right ?).

In this context, if there are any things I may be missing, please help me to resolve this.

thanks,