can't use roslaunch ur_bringup ur5_bringup.launch with ur5 robot

asked 2016-02-04 05:20:00 -0500

vancha gravatar image

updated 2016-02-04 05:40:04 -0500

gvdhoorn gravatar image

After i have been using the robot for a couple of weeks, every time i would connect to it using ros the connection would occasionally fail.

I checked the ip address which is correct (i can ping the ur5), and try to use

roslaunch ur_bringup ur5_bringup.launch robot_ip:=[ip of robot]

Note: this command used to work most of the time, just 3 out of 10 times it just failed for no apparent reason. now however, the response i get 100% of the time can be seen at the bottom of my post, note that it ends with "waiting to program".

I have been looking all over the internet for a solution, and haven't been able to find one yet. Can anyone please help me with this? All i want to do is connect to the robot.

roslaunch ur_bringup ur5_bringup.launch robot_ip:=
... logging to /home/vancha/.ros/log/0b597da2-cb2d-11e5-add9-5435300d39d6/roslaunch-vancha-X75VC-6217.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://vancha-X75VC:36467/


 * /robot_description: <?xml version="1....
 * /robot_ip_address:
 * /robot_reverse_port: 50001
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /tf2_buffer_server/buffer_size: 120.0
 * /ur_driver/max_payload: 10.0
 * /ur_driver/max_velocity: 10.0
 * /ur_driver/min_payload: 0.0

    robot_state_publisher (robot_state_publisher/state_publisher)
    tf2_buffer_server (tf2_ros/buffer_server)
    ur_driver (ur_driver/


core service [/rosout] found
process[robot_state_publisher-1]: started with pid [6238]
process[ur_driver-2]: started with pid [6239]
process[tf2_buffer_server-3]: started with pid [6240]
Setting prefix to 
[WARN] [WallTime: 1454583160.159265] No calibration offset for joint "shoulder_pan_joint"
[WARN] [WallTime: 1454583160.159648] No calibration offset for joint "shoulder_lift_joint"
[WARN] [WallTime: 1454583160.159965] No calibration offset for joint "elbow_joint"
[WARN] [WallTime: 1454583160.160225] No calibration offset for joint "wrist_1_joint"
[WARN] [WallTime: 1454583160.160474] No calibration offset for joint "wrist_2_joint"
[WARN] [WallTime: 1454583160.160716] No calibration offset for joint "wrist_3_joint"
[INFO] [WallTime: 1454583160.160952] No calibration offsets loaded from urdf
[INFO] [WallTime: 1454583160.163023] Max velocity accepted by ur_driver: 10.0 [rad/s]
[INFO] [WallTime: 1454583160.166555] Bounds for Payload: [0.0, 10.0]
Disconnected.  Reconnecting
[INFO] [WallTime: 1454583160.209029] Programming the robot
[INFO] [WallTime: 1454583160.213284] Programming the robot at
[2016-02-04 11:52:41.204985] Robot disconnected
 [2016-02-04 11:52:41.205209] Robot disconnected
Waiting to program
Waiting to program
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We're going to need more information, such as the type of control box, and the version of software running on it. Also: please see if any of the issues reported on the tracker are similar (such as 199, 191 or 183).

gvdhoorn gravatar image gvdhoorn  ( 2016-02-04 05:42:41 -0500 )edit

the version of the software is as follows: user interface: polyscope 3.1.18213 robot controller: urcontrol 3.1.18213

I'll take another look at the reported issues, but i have low hopes for it being the same. i really couldn't find anything about this anywhere.

vancha gravatar image vancha  ( 2016-02-04 06:01:14 -0500 )edit

the difference with most other post is the fact that my console output specifially says "Robot disconnected", where in the other tracker issues it says "Halted"

vancha gravatar image vancha  ( 2016-02-04 06:25:17 -0500 )edit

For now, see if the ur_modern_driver works. It has its own issues, but for most cases, should be a drop-in replacement of ur_driver. Please report your issue on the universal_robot tracker as well. Include as much information as possible.

gvdhoorn gravatar image gvdhoorn  ( 2016-02-04 06:57:24 -0500 )edit

I have the same problem with you. Have you solved this problem?

shyreckdc gravatar image shyreckdc  ( 2017-03-13 01:17:30 -0500 )edit

Yes: don't use ur_driver (through ur_bringup), but use ur_modern_driver. Version 3.1 and up are not supported by ur_driver. See also the wiki page.

gvdhoorn gravatar image gvdhoorn  ( 2017-03-13 02:14:32 -0500 )edit

Thank you very much!

shyreckdc gravatar image shyreckdc  ( 2017-03-13 02:47:16 -0500 )edit

Do changes to ur_bringup need to be made to show we are using ur_modern_driver? In the ur_common.launch file, should the driver node element be reformatted to the following:

<node name="ur__modern_driver" pkg="ur_modern_driver" type="" ...>

although does not exist?

maxgitt gravatar image maxgitt  ( 2017-08-04 12:14:13 -0500 )edit