Dual arm UR5 Real time interconnection

asked 2018-11-06 19:55:58 -0500

zzz
1 ●1 ●2 ●3

updated 2018-11-07 03:17:48 -0500

Ubuntu 16.04.

When I run command "roslaunch urX_moveit_config urX_moveit_planning_execution.launch limited:=true", it's an initializing OMPL error and Action client not connected error:

[ INFO] [1541579345.106159949]: Initializing OMPL interface using ROS parameters
[ERROR] [1541579345.108937973]: Could not find the planner configuration 'kConfigDefault' on the param server
[ERROR] [1541579345.117633459]: Could not find the planner configuration 'FMTkConfigDefault' on the param server
[ERROR] [1541579345.118218054]: Could not find the planner configuration 'BFMTkConfigDefault' on the param server
[ERROR] [1541579345.118660389]: Could not find the planner configuration 'PDSTkConfigDefault' on the param server
    ...

Thank you !

ompl_planning.yaml:

planner_configs:
  SBL:
    type: geometric::SBL
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  EST:
    type: geometric::EST
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
  LBKPIECE:
    type: geometric::LBKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  BKPIECE:
    type: geometric::BKPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  KPIECE:
    type: geometric::KPIECE
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
  RRT:
    type: geometric::RRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
  RRTConnect:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
  RRTstar:
    type: geometric::RRTstar
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
  TRRT:
    type: geometric::TRRT
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
    max_states_failed: 10  # when to start increasing temp. default: 10
    temp_change_factor: 2.0  # how much to increase or decrease ...

(more)

answered 2018-11-07 11:12:50 -0500

Soul Goumey
21 ●2 ●3 ●6

@zzz hello, I guess you didn't change anything in the ompl_planning.yaml, so no real need to paste it. But in your controller.yaml you have some mistakes. You have a namespace problem I think. If in your bringup.launch file you named your namespace group like this:

List item
```
  group ns="left" and group ns="right"
```

Then you ur_driver will generate topics like "/left/folow_joint_trajectory" and "/right/follow_joint_trajectory" and in your controller_list you have different names (ur5/follow_joint_trajectory), so the ur_driver can never find the controllers because it's excepted another names. So i sugegest you to modify the name and the action_key of your controller.yaml like below, to make them communicate in your namespaces:

List item

   -name: ""  
      action_ns: right/follow_joint_trajectory 
      (No change for the rest)
   -name: ""
      action_ns: left/follow_joint_trajectory
       (no change for the rest)

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Comments

Thank you very much! The problem is solved by modified ompl_planning.yaml, and your reply about the controller helps me so much!

zzz ( 2018-11-07 19:27:24 -0500 )edit

By the way ,need I to start two groups for each arm when using move_group.launch? My robot model is in one xacro, but how can I control the two arms on it?

zzz ( 2018-11-08 02:48:01 -0500 )edit

Obviously you need to start two groups otherwise the topics and node run by the move_group.launch couldn't communicate with the ur_driver run in the namespaces. Be careful to use the same group names that you used in the bringup.launch

Soul Goumey ( 2018-11-08 03:08:11 -0500 )edit

I didn't understand your question about how can you control the two arms? do you mean by using motion planning on Rviz? or by move_group_interface? Did you already check if the test_move.py works with your arms?

Soul Goumey ( 2018-11-08 07:46:55 -0500 )edit

@Soul Goumey I did as you said. But the trouble is I couldn't recieve the right arm' joint state, when I use Rviz to do MotionPlanning wih the left arm. In my dual arm UR5s model(xacro) ,there are two arms. Do you know how to solve it?

zzz ( 2018-11-12 09:26:35 -0500 )edit

@zzz you need to build your moveit package for the two arms to be able to use motionplanning with them, using moveit setup assistant and your dual arm file( urdf ). How it is about the test_move.py? Does it work with your two arms?

Soul Goumey ( 2018-11-12 12:22:23 -0500 )edit

I have try many times, but test_move.py couldnot move on the demo.launch. There must be many mistakes. I modified the simpleactionclient to /right/follow_joint_trajectory, joint_states to /right/joint_states .There is "on goal" in terminal but rviz doesn't work.

zzz ( 2018-11-13 20:43:12 -0500 )edit

@zzz i thought you were working on real robots. Because using demo.launch means that you’are on simulation environment, so even don’t have or don’t need ur_driver. Anyway now, i need to have a look to your package or catkin_ws/src. So try to compress it, put it on a website of download.

Soul Goumey ( 2018-11-14 01:10:47 -0500 )edit

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