How to control two Universal robot
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!
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! .
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?
Please see my answer to #q269074.
I have used test_move.py on the dual _arm platform successfully.But when I used moveIT，the same problem occured.
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.
Can you explain me please how do you use the test_move.py with the two arms?
Did you change or add something is the test_move.py? Like when I launch the test_move.py it shows "waiting for server"
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_movescript 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.So i have two options to do it. Where can i find the action server URI? Or what is it exactly?
in the source of
test_move.py. Setting up ROS apps with namespaces used like this, MoveIt and drivers is not trivial (but certainly doable). If you haven't, make sure you fully understand a single-arm setup before continuing.Thank you for your help.I think i need to understand very well the single arm setup before, because i even don't know how to start the test_move in a namespace. But i already knew how to create multiples instances of a node, but not a simple script.
test_move.pyis a node. It's just also an action client that talks to the robot driver. In a multi-driver setup, you'll just have to update the script to talk to the correct driver.thank you very much i really understood now. I will let you know the next week if i succeed the dual arms test. Right now i am trying to understand everything about the single arm.