Python package node behaving differently between simulated and real UR5 bot

asked 2019-03-15 15:35:09 -0600

sisko gravatar image

updated 2019-03-18 20:15:24 -0600

Following the examples listed at https://github.com/ros-industrial/uni... , I have successfully configure and pinged an IP address in my ur5 teachpad. From my commanline, I issue the various roslaunch commands with the IP address and I am able to control the robot with the moveit package .

My custom python package is all about moving the ur5 end effector to a different pose. In the gazebo simulation the robot moves but when I tried executing on a real robot, nothing happens. I know the go function is what executes code on a live robot (my package is based on and uses moveit), as my code below show:

  def move_to_pose(self, pose):
    rospy.loginfo(pose)

    self.manipulator.set_goal_tolerance(0.5)

    self.manipulator.set_pose_target(pose)
    plan = self.manipulator.plan()

    self.manipulator.execute(plan) # display the trajectory in rviz. Follow the already computed plan 
    self.manipulator.go(wait=True) # execute in real robot
    self.manipulator.stop() # ensure there is no residual movement
    self.manipulator.clear_pose_targets() # clear targets after planning with poses

I would appreciate some help. I'm not sure why the simulation works but the live robot does not.

Any advice on how to diagnose this disconnect, please.

edit retag flag offensive close merge delete