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MoveIt! failling to execute trajectory in real robot

asked 2018-04-27 10:50:59 -0600

znbrito gravatar image

Hi guys,

I am on ROS Kinetic and Ubuntu 16.04 LTS. I am trying to use MoveIt! to execute a trajectory (between 2 random points, for example) on a manipulator using a node that sends this trajectory. I have previously used this same code to execute the trajectory in Gazebo so I know that the code works.

I can plan and execute in the MoveIt! GUI in RViz with no problems, the arm moves perfectly to the desired point and orientation. Now I want to be able to code trajectories, so that's my struggle right now. First, whenever I launched the node with the code, I would get this message:

[ WARN] [1524843705.443787714]: Waiting for robotis_manipulator_h/main_group_controller/follow_joint_trajectory to come up
[ INFO] [1524843708.822639288]: Failed to call service get_planning_scene, have you launched move_group? at /home/josebrito/catkin_ws/src/moveit-kinetic-devel/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:485
[ INFO] [1524843709.024521785]: Constructing new MoveGroup connection for group 'main_group' in namespace ''
[ WARN] [1524843711.444321642]: Waiting for robotis_manipulator_h/main_group_controller/follow_joint_trajectory to come up
[ERROR] [1524843717.444503875]: Action client not connected: robotis_manipulator_h/main_group_controller/follow_joint_trajectory
[ INFO] [1524843717.550721955]: Returned 0 controllers in list
[ INFO] [1524843717.592185366]: Trajectory execution is managing controllers

So I started an action server using this node in my launch file:

<node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action_node">

And now, whenever I run the node, I get all of these errors: image description

Do you guys have any ideas on why are they appearing?

Best regards, José Brito

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answered 2018-04-27 13:56:05 -0600

The lines:

[ERROR] [1524843717.444503875]: Action client not connected: robotis_manipulator_h/main_group_controller/follow_joint_trajectory
[ INFO] [1524843717.550721955]: Returned 0 controllers in list

Would seem to imply the node is failing to connect to the hardware. Have you managed to control the real arm manually from ROS to make sure that connection is working okay?

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Hi Peter, thanks for your response. That line appears when I set the fake_execution variable to false in my the launch file that starts MoveIt! and not the node that runs the code. I can still plan and execute using the GUI when the variable is true, not sure if I can when the variable is false

znbrito gravatar imageznbrito ( 2018-04-27 16:09:54 -0600 )edit

Did this help in anyway? Thanks a lot!

znbrito gravatar imageznbrito ( 2018-04-27 16:10:08 -0600 )edit

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Asked: 2018-04-27 10:50:59 -0600

Seen: 376 times

Last updated: Apr 27 '18