UR5 demo does not run in Kinetic

asked 2016-12-28 02:43:18 -0500

SimonB gravatar image

Hi,

I'm trying to run the ur_gazebo demo listed here: http://wiki.ros.org/ur_gazebo . I run

roslaunch ur_gazebo ur10.launch
roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true
roslaunch ur10_moveit_config moveit_rviz.launch config:=true

Most of it works: Gazebo comes up and so does rviz. I can create a random destination for the arm and watch the robot flail as it repeatedly tries and fails to reach it. Looking through the log of roslaunch ur_gazebo ur5.launch I see:

ERROR: cannot launch node of type [controller_manager/controller_manager]: controller_manager
ROS path[0]=/opt/ros/kinetic/share/ros
ROS path[0]=/home/simonbirrell/catkin_ws/src
ROS path[2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [controller_manager/controller_manager]: controller_manager
ROS path[0]=/opt/ros/kinetic/share/ros   
ROS path[0]=/home/simonbirrell/catkin_ws/src
ROS path[2]=/opt/ros/kinetic/share

I have a fresh deb install of kinetic on Ubuntu 16.04. I've read the warning about installing moveit_simple_controller_manager and did so by copying the source from https://github.com/ros-planning/movei... into a catkin_ws/src and compiling, which it appears to do successfully. It makes no difference when I try once again to launch ur5.launch.

My guess is that the arm simulation is failing to provide feedback of some sort to MoveIt because some or part of the controller is missing and so the arm fails to detect that it has reached its destination. In any case, the above error messages clearly shouldn't appear.

Assuming this is the problem referred to on the ur_gazebo demo page, is there a set of simple instructions anywhere for resolving it?

Thanks!

Simon

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