How to connect ROS moveit to simulator

asked 2019-06-24 05:34:33 -0600

sw14928 gravatar image

updated 2019-06-24 06:41:41 -0600

gvdhoorn gravatar image

Hi All, I wish to connect my ros rviz simulation to a kuka rsi simulator, so I can practice robot control. I have added the following to my launch file:

  <!-- run the "real robot" interface nodes -->
  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
  <group unless="$(arg sim)">
    <include file="$(find kuka_rsi_simulator)/launch/kuka_rsi_simulator.launch" >
      <arg name="rsi_hw_iface_ip" value="127.0.0.1"/>
      <arg name="rsi_hw_iface_port" value="33829"/>
    </include>
  </group>

but each time I run the code it reads

2019-06-24T11:17:43.489+0100 warning: Failed to connect to 127.0.0.1:33829, reason: errno:111 Connection refused
[WARN] [1561371464.261223]: kuka_rsi_simulation: Socket timed out
[ERROR] [1561371464.489483928]: Unable to connect to the database at 'localhost:33829'. If you just created the database, it could take a while for initial setup.
[ERROR] [1561371464.489757759]: Not connected to the database. Cannot drop database

Any thoughts or advice?

Best regards, Sam

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