How to connect to a real universal robot (ur3)
Hi,
i try to connect ROS from a virtual box (ubuntu 16.04 + kinetic) with a real universal robot (ur3.5.1). I used the modern_driver and the moveit config from universal_robot package. I am able to ping to the robot and the actual position is shown up in the RVIZ interface (even if you move the robot), BUT if i try to plan and execute a trajectory it 'fails' and the robot doesen't move. Also the test_move.py don't work (the connection is build successfully but the robot don't move). On the teach penal of the robot i don't set any special config (just unlock the joints and enable networking) Do you have any idea? Maybe it is because of the virtual box?
Thank you!
Driver:
>`tim@ROS-PC:~$ roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=192.168.0.3
... logging to /home/tim/.ros/log/b96c09dc-e8d5-11e8-b0b0-080027b2a5ed/roslaunch-ROS-PC-2278.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:46087/
SUMMARY
========
PARAMETERS
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.13
* /ur_driver/base_frame: base
* /ur_driver/max_joint_difference: 0.01
* /ur_driver/max_payload: 3.0
* /ur_driver/max_velocity: 10.0
* /ur_driver/max_waiting_time: 2.0
* /ur_driver/min_payload: 0.0
* /ur_driver/prefix:
* /ur_driver/require_activation: Never
* /ur_driver/robot_ip_address: 192.168.0.3
* /ur_driver/servoj_gain: 100.0
* /ur_driver/servoj_lookahead_time: 1.0
* /ur_driver/servoj_time: 0.008
* /ur_driver/servoj_time_waiting: 0.001
* /ur_driver/shutdown_on_disconnect: True
* /ur_driver/time_interval: 0.008
* /ur_driver/tool_frame: tool0_controller
* /ur_driver/use_lowbandwidth_trajectory_follower: False
* /ur_driver/use_ros_control: False
NODES
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ur_driver (ur_modern_driver/ur_driver)
auto-starting new master
process[master]: started with pid [2292]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to b96c09dc-e8d5-11e8-b0b0-080027b2a5ed
process[rosout-1]: started with pid [2305]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2308]
process[ur_driver-3]: started with pid [2323]
[ INFO] [1542286530.435668630]: Setting up connection: 192.168.0.3:30003
[ INFO] [1542286530.450635527]: Connection established for 192.168.0.3:30003
[ INFO] [1542286530.450806340]: Setting up connection: 192.168.0.3:30001
[ INFO] [1542286530.452408980]: Connection established for 192.168.0.3:30001
[ INFO] [1542286530.458575005]: Got VersionMessage:
[ INFO] [1542286530.458634085]: project name: URControl
[ INFO] [1542286530.458665122]: version: 3.5.1
[ INFO] [1542286530.458695556]: build date: 12-12-2017, 11:25:40
[ INFO] [1542286530.458728250]: Disconnecting from 192.168.0.3:30001
[ INFO] [1542286530.492961865]: ActionServer enabled
[ INFO] [1542286530.493071996]: Use standard trajectory follower
[ INFO] [1542286530.497557112]: Setting up connection: :50001
[ INFO] [1542286530.497790485]: Connection established for :50001
[ INFO] [1542286530.497987392]: Initializing ur_driver/URScript subscriber
[ INFO] [1542286530.504972677]: The ur_driver/URScript initialized
[ INFO] [1542286530.505075917]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1542286530.513697572]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1542286530.513775597]: Starting main loop
[ INFO] [1542286530.514182378]: Starting pipeline RTPacket
[ INFO] [1542286530.514507689]: Setting up connection: 192.168.0.3:30003
[ INFO] [1542286530.514639898]: Setting up connection: 192.168.0.3:30002
[ INFO] [1542286530.514699348]: Starting pipeline StatePacket
[ INFO] [1542286530.516334795]: Connection established for 192.168.0.3:30003
[ INFO] [1542286530.517365609]: Starting ActionServer ...
Can you show us the full error message when you try and execute a trajectory. Just saying it fails doesn't give us much to go on.
I have the same problem I don't get errors just a few warnings
i don't get errors, too. The robot just does not move...
If you try and plan and execute a trajectory in MoveIt it will always show some useful information in the terminal if it works or if it doesn't work. Can you show us the whole output of the terminal from when you run roslaunch.
i added some code