Controlling a real robot (universal robot)

asked 2018-12-04 05:03:31 -0600

Tim_ros_user gravatar image


I try to control a UR3 with MoveIt. So fare everything works.. (controlling the robot with the moveit interface). But i want to control the robot with python code like the code below. But if i try to run this code MoveIt can not find a solution for the robot. So i changed the x/y/z coordinates and the orientation and found one example that works, but only in simulation, not with the real robot. I think the movement is to "complex" for MoveIt.

Do you have any idea how to fix this problem? Or some other possibilities how to control the robot? My goal is to set some waypoints (x/y/z) and let the robot run ...

import sys
import copy
import rospy
import moveit_commander
import moveit_msgs.msg
import geometry_msgs.msg

rospy.init_node('move_group_python_interface_tutorial', anonymous=True)

robot = moveit_commander.RobotCommander()
scene = moveit_commander.PlanningSceneInterface()    
group = moveit_commander.MoveGroupCommander("arm")
display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=1)

pose_target = geometry_msgs.msg.Pose()
pose_target.orientation.w = 1.0
pose_target.position.x = 0.96
pose_target.position.y = 0
pose_target.position.z = 1.18

plan1 = group.plan()


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The a solution is found in simulation but not with the real robot then there is some difference between the two, which shouldn't happen. Are there additional collision constraints on the real robot?

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-12-04 07:00:46 -0600 )edit