UR5 - Gazebo 5 - Simulation not moving
I am new to this so forgive me if I ask a dumb question.
I am running a Gazebo simulation of UR5 and the robot appears but I can not get it to move without moveit. I tried standard ROS topic calls with no luck
#!/usr/bin/env python
#-----------------------------------------------------
# 05 Apr 2017 - WOPA5X - Initial Development
#-----------------------------------------------------
import rospy
import math
from std_msgs.msg import Float32
from control_msgs.msg import FollowJointTrajectoryActionGoal
from trajectory_msgs.msg import JointTrajectoryPoint
#TORAD = math.pi / 180.0
#TODEG = 1.0 / TORAD
def finalization(self):
logger.info("Shutting down ROS node...")
rospy.signal_shutdown("User exited simulation")
return True
def move_to_position(Arm):
Pub1_T.publish(0.5)
Pub2_T.publish(0.5)
Pub3_T.publish(0.5)
Pub4_T.publish(0.5)
Pub5_T.publish(0.5)
Pub6_T.publish(0.5)
Pub1_G.publish(Arm[0])
Pub2_G.publish(Arm[1])
Pub3_G.publish(Arm[2])
Pub4_G.publish(Arm[3])
Pub5_G.publish(Arm[4])
Pub6_G.publish(Arm[5])
rospy.sleep(20)
def up():
Arm = [2.75, 2.75, 2.75, -2.75, 2.75, 2.75]
print "Winston_wave -- moving arm up"
move_to_position(Arm)
def down():
Arm = [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
print "Winston_wave -- moving arm down"
move_to_position(Arm)
if __name__ == '__main__':
rospy.init_node('Winston_wave')
try:
arm_joints = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
Arm_Names_Goals = []
Arm_Names_Trajectory = []
Pub = []
for i in range(len(arm_joints)):
Arm_Names_Goals.append("arm_controller/constraints/" + arm_joints[i] + "/goal")
Arm_Names_Trajectory.append("arm_controller/constraints/" + arm_joints[i] + "/trajectory")
Pub1_G = rospy.Publisher(Arm_Names_Goals[0], Float32, queue_size = 1)
Pub2_G = rospy.Publisher(Arm_Names_Goals[1], Float32, queue_size = 1)
Pub3_G = rospy.Publisher(Arm_Names_Goals[2], Float32, queue_size = 1)
Pub4_G = rospy.Publisher(Arm_Names_Goals[3], Float32, queue_size = 1)
Pub5_G = rospy.Publisher(Arm_Names_Goals[4], Float32, queue_size = 1)
Pub6_G = rospy.Publisher(Arm_Names_Goals[5], Float32, queue_size = 1)
Pub1_T = rospy.Publisher(Arm_Names_Trajectory[0], Float32, queue_size = 1)
Pub2_T = rospy.Publisher(Arm_Names_Trajectory[1], Float32, queue_size = 1)
Pub3_T = rospy.Publisher(Arm_Names_Trajectory[2], Float32, queue_size = 1)
Pub4_T = rospy.Publisher(Arm_Names_Trajectory[3], Float32, queue_size = 1)
Pub5_T = rospy.Publisher(Arm_Names_Trajectory[4], Float32, queue_size = 1)
Pub6_T = rospy.Publisher(Arm_Names_Trajectory[5], Float32, queue_size = 1)
while not rospy.is_shutdown():
up()
down() jectory[4], Float32, queue_size = 1)
Pub6_T = rospy.Publisher(Arm_Names_Trajectory[5], Float32, queue_size = 1)
while not rospy.is_shutdown():
up()
down()
except rospy.ROSInterruptException:
pass
except rospy.ROSInterruptException:
pass
and when I try to use test_move.py
it just sits there saying "Waiting for server....", it is doing this with the modern driver too
HELP!!! is there anyway(examples would be nice) to move a UR without moveit
thanks in Advance Anthony(Biv)
Could you please explain a bit what you want your program to do? I see you import
FollowJointTrajectoryActionGoal
but then never create a goal or an action client instance. The code you have right now makes no sense to me.