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Disabling UR5e teach pendant and turning on the arm with ROS

asked 2019-06-18 11:48:58 -0500

joaocabogon gravatar image


So I have a system to power the UR5e, but now I want to disable the teach pendant and instead of doing the initialization sequence (the 5 circles) from the teach pendant (turning off the brakes, etc..) and would like to do with ROS. I have tried some stuff with the service /ur_driver/robot_enable, but I am not sure if this is what is suposed to do.

Besides this I also tried using the /ur_driver/URScript topic with "power on" and I get the following error:

[ERROR] [/ur_hardware_interface]: Robot is not ready, check robot_mode

What should I do to be able to avoid using the teach pendant every time I turn on/off the UR5e?

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answered 2019-06-18 12:33:44 -0500

this is expected to be implemented in the new ros driver that ur are working on that was presented about at the ros industrial conference last year

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Yes, so the answer is: ur_modern_driver does not support this. It checks the state of the robot controller and will not allow remote control until the robot has been properly initialised and/or the controller is in an operational state.

Getting it in that state / TP-less operation was not part of the design requirements and as such is not supported.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-18 12:55:00 -0500 )edit

presentation here control modes details are at 5:09

nickw gravatar image nickw  ( 2019-06-18 13:47:40 -0500 )edit

So is there any way to use the UR5 arm without having the teach pendant always connected? Is it possible to initialize the arm without the teach pendant or ROS?

joaocabogon gravatar image joaocabogon  ( 2019-06-19 04:36:57 -0500 )edit

I don't know one currently, there is an email address at 18:00 on the video to sign up for beta testing the new driver when it is ready

nickw gravatar image nickw  ( 2019-06-19 05:03:10 -0500 )edit

There are multiple actually, one of which would be using the dashboard server, but:

  • I'm not entirely sure they work with e-series (as they have additional safety features)
  • I'm not entirely sure it'd be a good idea to automate these steps, unless we're talking about a deployment in a (semi) controlled environment / by an integrator
gvdhoorn gravatar image gvdhoorn  ( 2019-06-19 06:49:58 -0500 )edit

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Asked: 2019-06-18 11:48:58 -0500

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Last updated: Jun 18 '19