How to check robot mode on UR5
Hello There,
I have some trouble to work with the Getting Started with a Universal Robot and ROS-Industrial. After setting up the ur_modern_driver for our 3.4.X UR5 Robot I tried to execute the test_move.py script. The console returns: Robot is not ready, check Robot_mode! I have after several hours of research no clue.
REF: Getting Started with a Universal Robot and ROS-Industrial
EDIT:
@gvdhoorn Below I postet the actuall execute command that leads to the following Error:
[ WARN] [1519905657.372310797]: Goal error: Robot is not ready, check robot_mode
This warning shows up if I enter the command on another terminal:
$ rosrun ur_modern_driver test_move.py
After this I got the Infostream from test_move.py and confirm the movement with "y" and it leads to the listed Warning.
@PeteBlackerThe3rd As it sounds like the obvious Solution, it is not easy to discover. I've plenty hours of experience with industrial robots from denso, but its my first atempt with ROS. I have 3 modes at a denso robot: Auto, Manual or Teach-Check. This is something what I have missed as I start with UR5. After a little more analysing of the ur_modern_driver Code I have realized the lines 70-80 of robot_state.h. I actually dont know if it's the point of my problem, but my experience with ROS is just beginner's status.
At last thank you both for the fast response.
EDIT:
After running the launchfile:
roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT
I still can move the Robot-Arm with the Polyscope-Teachpendant. I also searched for an option to change the robot_mode but I just found and also know about the "reduced Mode".
EDIT: The "Initilaize Robot" Screen shows:
Robot --> "green-ample-sign" NORMAL
EDIT:
Meanwhile we tested the response of the dashboardserver. Our results was the following:
- RUNNING --> if the robot is in NORMAL, RECOVERY and running a PolyScope-Program
-IDLE --> if the robot is IDLE
-BOOTING --> if the robot is BOOTING
so far everything as expected.
can you please copy-paste the output that you get? There is probably some context missing here.
Not trying to point out of the obvious but the UR5 is in drive mode and you can drive it from the attached tablet?
I've edited my Question
"Robot Mode" is something Universal Robots came up with, it's not a ROS or ROS-Industrial invention. See the
robotmodeentry on this page fi. If your robot is not in ready mode, it cannot .... be controlled by the ROS driver component.
As @PeteBlackerThe3rd asks: can you use the UR teach pendant to control the robot at that point?
If not: you'll need to make sure the robot is operational before trying to use ROS with it. Please refer to the Universal Robots documentation for that.
Readed your awnsers and edited again.
Could you please add some more detail to your opening post? I can only find the phrase "Robot is not ready" in a version of
ur_modern_driverthat is currently in a Pull Request. It's not the normal version of the driver. Can you clearly state which particular pkg you are using?It could be that your robot is using a Polyscope version that is not supported by the driver yet. In that case, if Universal Robots changed the binary protocol, the driver could be misinterpreting the data it receives from the robot, leading to what you observe.