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hello, I've solved it out with the guide from you guys but little bit edited information.

following Universal_Robots_ROS_Driver/ur_robot_driver/doc/ROS_INTERFACE.md

we should change the topic name from "follow_joint_trajectory" to "scaled_pos_joint_traj_controller/follow_joint_trajectory", you should aware that there is word added 'joint'.

and you don't need to change the directory of "test_move.py", just run it in "~/catkin_ws/src/fmauch_universal_robot/ur_driver"

most Importantly, after change your "test_move.py" file. you should follow these steps.

  1. power on the robot.
  2. release brake of the robot.
  3. start URcap+ program "ExternalControl".
  4. run "roslaunch ur_robot_driver [YOUR_ROBOT_MODEL]_bringup.launch robot_ip:=[YOUR_ROBOT_IP]"
  5. run "rosrun ur_driver test_move.py "

then your robot is gonna move follow the joint value you've set in "test_move.py".

Q1 = [1.7,-1.6,-0.87996,-2.12741,1.47178,-4.60472]

Q2 = [1.6,-1.7,-0.87996,-2.12741,1.47178,-4.60472]

Q3 = [1.5,-1.8,-0.87996,-2.12741,1.47178,-4.60472]

!!! Caution !!! You should not use the default value in "test_move.py". you should check the joint value of your robot, and gotta set it safely.