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Cannot move Robotiq 2F-140 in ROS

asked 2019-06-20 07:22:26 -0500

drodgu gravatar image

updated 2019-06-21 08:23:37 -0500

gvdhoorn gravatar image

I have a robot configuration with an UR10 robot and a Robotiq 2F-140 gripper in ROS and Gazebo and when I try to control the gripper to open or close it, it does not work. I am a new ROS user and maybe I am making a mistake when I declare the properties of the robot when using MoveIt Setup Assistant. Here I leave the terminal report:

PARAMETERS
 * /arm_controller/action_monitor_rate: 10
 * /arm_controller/constraints/elbow_joint/goal: 0.1
 * /arm_controller/constraints/elbow_joint/trajectory: 0.1
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05
 * /arm_controller/constraints/wrist_1_joint/goal: 0.1
 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /arm_controller/constraints/wrist_2_joint/goal: 0.1
 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /arm_controller/constraints/wrist_3_joint/goal: 0.1
 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /arm_controller/joints: ['shoulder_pan_jo...
 * /arm_controller/state_publish_rate: 25
 * /arm_controller/stop_trajectory_duration: 0.5
 * /arm_controller/type: position_controll...
 * /joint_group_position_controller/joints: ['shoulder_pan_jo...
 * /joint_group_position_controller/type: position_controll...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: 
 * /move_group/controller_list: [{'default': True...
 * /move_group/disable_capabilities: 
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BFMT/balanced: 0
 * /move_group/planner_configs/BFMT/cache_cc: 1
 * /move_group/planner_configs/BFMT/extended_fmt: 1
 * /move_group/planner_configs/BFMT/heuristics: 1
 * /move_group/planner_configs/BFMT/nearest_k: 1
 * /move_group/planner_configs/BFMT/num_samples: 1000
 * /move_group/planner_configs/BFMT/optimality: 1
 * /move_group/planner_configs/BFMT/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMT/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECE/range: 0.0
 * /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
 * /move_group/planner_configs/BiEST/range: 0.0
 * /move_group/planner_configs/BiEST/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRT/init_temperature: 100
 * /move_group/planner_configs/BiTRRT/range: 0.0
 * /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
 * /move_group/planner_configs/EST/goal_bias: 0.05
 * /move_group/planner_configs/EST/range: 0.0
 * /move_group/planner_configs/EST/type: geometric::EST
 * /move_group/planner_configs/FMT/cache_cc: 1
 * /move_group/planner_configs/FMT/extended_fmt: 1
 * /move_group/planner_configs/FMT/heuristics: 0
 * /move_group/planner_configs/FMT/nearest_k: 1
 * /move_group/planner_configs/FMT/num_samples: 1000
 * /move_group/planner_configs/FMT/radius_multiplier: 1.1
 * /move_group/planner_configs/FMT/type: geometric::FMT
 * /move_group/planner_configs/KPIECE/border_fraction: 0.9
 * /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECE/goal_bias: 0.05
 * /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECE/range: 0.0
 * /move_group/planner_configs/KPIECE/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECE/range: 0.0
 * /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRT/epsilon: 0.4
 * /move_group/planner_configs/LBTRRT/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRT/range: 0.0
 * /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRM/range: 0.0
 * /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
 * /move_group/planner_configs/PDST/type ...
(more)
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Comments

Can you post a link to your repository with all the moveit config files? It will be easy to check !

pmuthu2s gravatar imagepmuthu2s ( 2019-06-21 16:20:20 -0500 )edit

Thank you very much! The link is the following one: https://drive.google.com/file/d/1kxVU... The launch command I use to start the program is: roslaunch ur_app_main ur10e_gripper_gazebo_cont.launch limited:=true sim:=true

drodgu gravatar imagedrodgu ( 2019-06-23 05:11:06 -0500 )edit

Okay! To my understanding, you want to open and close the gripper (Possible actions of gripper commands) The easiest way to move the gripper will be to follow the step 5 of the moveit tutorial link which you have posted. You have to change the group to gripper while creating poses for gripper.

pmuthu2s gravatar imagepmuthu2s ( 2019-06-24 05:10:07 -0500 )edit

That's what I want to do, open and close the gripper. The thing is that when I try to plan, to the close position, I get the following warnings (a *.txt file): https://drive.google.com/file/d/1XqUU... It's like it cannot plan because of the collisions between gripper links. As MoveIt cannot plan the trajectory, it cannot move the gripper joints either. And I do not know why this collisions happen.

drodgu gravatar imagedrodgu ( 2019-06-24 06:42:04 -0500 )edit

Maybe this link helps you!

pmuthu2s gravatar imagepmuthu2s ( 2019-06-25 05:50:08 -0500 )edit

It helps. What I was doing wrong is not picking the good joint to improve the controller. I used a kinematic chain between the gripper_base_link and the left_inner_finger and the right part moves with mimic (repeat the gripper configuration in MoveIt Setup Assitant). Thank you very much for your help! SOLVED.

drodgu gravatar imagedrodgu ( 2019-06-25 05:55:17 -0500 )edit

No problem, glad you found out!

Maybe then just update the comment as an answer and close the question as solved! :)

pmuthu2s gravatar imagepmuthu2s ( 2019-06-25 05:58:44 -0500 )edit

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answered 2019-06-25 06:00:59 -0500

pmuthu2s gravatar image

Reposting from the comments!

This link will help you!

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It helps. What I was doing wrong is not picking the good joint to improve the controller. I used a kinematic chain between the gripper_base_link and the left_inner_finger and the right part moves with mimic (repeat the gripper configuration in MoveIt Setup Assitant). Thank you very much for your help! SOLVED

drodgu gravatar imagedrodgu ( 2019-06-25 23:56:06 -0500 )edit

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Asked: 2019-06-20 07:22:26 -0500

Seen: 74 times

Last updated: Jun 25