how does Moveit communicate to Gazebo?
Hi all,
I was able to simulate the UR5 and control it in simulation from RViz, fololwing these steps:
$ roslaunch ur_gazebo ur5.launch
$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
Now I would like to know how to control the real UR5, but first I need to know how RViz is talking to Gazebo in order to make the robot moves. Does anyone know what kind of input is needed by gazebo? Or better, what kind of information is being sent to Gazebo when I press "plan and execute" in RViz? I suspect they are the joints states, but I don't know where to read this information.
Thank you for your help in advance.
Edit: Thanks a lot for your answer, now everything is a bit more clear. But I have another question at this point. I tried to communicate with the real hardware and I was able to move the robot running "test_move.py" from the "ur_modern_driver package". After that I tried to move the robot with MoveIt! following this tutorial:
http://wiki.ros.org/universal_robot/T...
Problems arise when launching this command:
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true
In the terminal the following lines appear:
[ WARN] [1529329845.474785699]: Waiting for /joint_trajectory_action to come up
[ WARN] [1529329851.474995251]: Waiting for /joint_trajectory_action to come up
[ERROR] [1529329857.475168563]: Action client not connected: /joint_trajectory_action
So that when i launch MoveIt (by typing roslaunch ur5_moveit_config moveit_rviz.launch config:=true
) to try planning and execution, the planning is ok but the execution never works.
And the same is with using the limited version (limited:=true
).
Do you have any idea why this happens?
Please do not post answers, unless you are answering your own question. For short interactions, use comments. For updating us with new information, or anything else, edit your original question. Use the
edit
button/link for that.I've already merged your answer into your question.
Also: your update sounds like a different issue, almost unrelated to your initial question (which was about how Gazebo interacts with a ROS application).
Your update is about real hw and a driver that is not used with Gazebo, so please ask this in a new question (if you can't find earlier Q&As).