Possibility of moving the ur10 universal robot with respect to the action goals being updated in its ROS topic "/follow_joint_trajectory/goal"?
Dear ROS developers & users,
Let me formulate my situation.
Aim :: To move the ur10 universal robot with respect to the updated action goals which are being published to its corresponding ROS topic "/follow_joint_trajectory/goal"
Things performed ::
Played around with the tutorials provided in the ros-industrial package of universal robot using the website link ( http://wiki.ros.org/universal_robot/T... )
Checked which particular ROS topic should I have to publish a new joint-space goal. The ROS topic was found to be "/follow_joint_trajectory/goal". Type of this ROS topic is "control_msgs/FollowJointTrajectoryActionGoal". Also, i had a look at the message sturcture of "control_msgs/FollowJointTrajectoryActionGoal" using the website link ( http://docs.ros.org/fuerte/api/contro... )
For the sake of completeness, the complete message structure of "control_msgs/FollowJointTrajectoryActionGoal" looks in the following manner.
ros@rosPC:~$ rosmsg show control_msgs/FollowJointTrajectoryActionGoal
std_msgs/Header header
uint32 seq
time stamp
string frame_id
actionlib_msgs/GoalID goal_id
time stamp
string id
control_msgs/FollowJointTrajectoryGoal goal
trajectory_msgs/JointTrajectory trajectory
std_msgs/Header header
uint32 seq
time stamp
string frame_id
string[] joint_names
trajectory_msgs/JointTrajectoryPoint[] points
float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start
control_msgs/JointTolerance[] path_tolerance
string name
float64 position
float64 velocity
float64 acceleration
control_msgs/JointTolerance[] goal_tolerance
string name
float64 position
float64 velocity
float64 acceleration
duration goal_time_tolerance
- To be precise, I neglected the following parts of the above mentioned message while publishing the action goals to the ROS topic "follow_joint_trajectory/goal".
Field --- Object => Class (My interpretation of the message structure)
std_msgs/Header header => control_msgs/FollowJointTrajectoryActionGoal
time stamp ---- actionlib_msgs/GoalID goal_id => control_msgs/FollowJointTrajectoryActionGoal
std_msgs/Header header => trajectory_msgs/JointTrajectory trajectory
duration time_from_start ---- trajectory_msgs/JointTrajectoryPoint[] points => trajectory_msgs/JointTrajectory trajectory
duration goal_time_tolerance => control_msgs/FollowJointTrajectoryActionGoal
- So far, the ROS topic "/follow_joint_trajectory/goal" is clearly published with the action goals
Typical action goal published to the ROS topic "/follow_joint_trajectory/goal" and the message looks in the following way.
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
goal_id:
stamp:
secs: 0
nsecs: 0
id: 0
goal:
trajectory:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
points:
-
positions: [1.4770721197128296, -2.000670909881592, 1.7188003063201904, -2.132617950439453, -1.6139060258865356, -0.28640851378440857]
velocities: [1.4770721197128296, -2.000670909881592, 1.7188003063201904, -2.132617950439453, -1.6139060258865356, -0.28640851378440857]
accelerations: [0.7385360598564148, -1.000335454940796, 0.8594001531600952, -1.0663089752197266, -0.8069530129432678, -0.14320425689220428]
effort: []
time_from_start:
secs: 0
nsecs: 0
-
positions: [1.9598301649093628, -1.015956163406372, 1.7667968273162842, -2.3582887649536133, -1.60133957862854, -0.4801400899887085]
velocities: [1.9598301649093628, -1.015956163406372, 1.7667968273162842, -2.3582887649536133, -1.60133957862854, -0.4801400899887085]
accelerations: [0.9799150824546814, -0.507978081703186, 0.8833984136581421, -1.1791443824768066, -0.80066978931427, -0.24007004499435425]
effort: []
time_from_start:
secs: 0
nsecs: 0
path_tolerance: -
name: pt
position: 0.0872664600611
velocity: 0.0872664600611
acceleration: 0.0872664600611
goal_tolerance: -
name: gt
position: 0.0872664600611
velocity: 0.0872664600611
acceleration: 0.0872664600611
goal_time_tolerance:
secs: 0
nsecs: 0
ros@rosPC:~$ rostopic echo /follow_joint_trajectory/goal
Result :: Even though the action goals are published on the desired ROS topic (i.e., "/follow_joint_trajectory/goal"), ur10 robot doesn't move at all
Conclusion drawn from the result :: May be I have to fill the neglected parts ...
Hi I'm also facing some problems with moving the ur10. I have one question though, are you using the position of joints to move? why not put a final position for say the end effector the make the robot move in order to get there?