How to control two Universal robot

asked 2017-06-16 09:38:38 -0600

Soul Goumey gravatar image

Hello Everyboby!

I am working on universal robot UR5 and UR10. I already followed the tutorials on github about how to control a real UR5 by ros on this link https://github.com/ros-industrial/uni... . So i already knew how to control one UR5. Now i want to do the same experience with two UR5. I already studied a lot the URDF files because i think that's important to succeed it. Can someone give me some helps about how to do? that's very important for me to do it. I am using ROS indigo on ubuntu 14.04

Thank you!

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Have you solved this problem?I have the same problem with you.The error "Action client not connected:lef_arm_controller/left_follow_joint_trajectory" occured when I uesed Moveit! .

yyf gravatar imageyyf ( 2017-08-27 20:01:17 -0600 )edit

I didn't solve it, I always have the same problem. Right now I want to use test_move.py for the both robot. Do you have an idea about how to do it?

Soul Goumey gravatar imageSoul Goumey ( 2017-08-28 01:30:58 -0600 )edit

Please see my answer to #q269074.

gvdhoorn gravatar imagegvdhoorn ( 2017-08-28 02:13:35 -0600 )edit

I have used test_move.py on the dual _arm platform successfully.But when I used moveIT,the same problem occured.

yyf gravatar imageyyf ( 2017-09-01 02:28:17 -0600 )edit

There are two sides to this: you'll have to start two driver instances in their respective namespaces and configure MoveIt correctly. I suggest you update your original question with more information / how you configured the launch files and MoveIt side of things.

gvdhoorn gravatar imagegvdhoorn ( 2017-09-01 02:35:37 -0600 )edit

Can you explain me please how do you use the test_move.py with the two arms?

Soul Goumey gravatar imageSoul Goumey ( 2017-09-06 04:13:50 -0600 )edit

Did you change or add something is the test_move.py? Like when I launch the test_move.py it shows "waiting for server"

Soul Goumey gravatar imageSoul Goumey ( 2017-09-06 10:30:43 -0600 )edit

If you start two instances of the driver (no matter which driver you use) in a namespace, you'll have to either run the test_move script in a namespace as well, or update the action server URI it uses in the script to connect to the one you want to test.

gvdhoorn gravatar imagegvdhoorn ( 2017-09-06 14:11:29 -0600 )edit