UR10e real hardware not moving but connected [closed]

asked 2019-07-01 02:03:56 -0600

drodgu gravatar image

updated 2019-07-01 03:24:58 -0600

Hi, I'm trying to connect to a UR10e robot and I am using the modern drivers of plusone-robotics. The software of the teach pendant is Polyscope 5.1.2 and the repositories (ROS Kinetic and Ubuntu 16.04) for the robots I'm using are the following ones:



The thing is that I have made the connection between ROS controllers and the hardware interface to control robot movements, but by the time I try to move the UR10e real harware the velocity controllers failed with the following report on one the terminals:

[ INFO] [1561965750.043374438]: Received new trajectory execution service request...
[ WARN] [1561965751.261333550]: Controller  failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1561965751.261747794]: Controller handle  reports status ABORTED
[ INFO] [1561965751.261863283]: Completed trajectory execution with status ABORTED ...
[ INFO] [1561965751.262428067]: Execution completed: ABORTED

and on the other one:

[ERROR] [1561964551.757924366]: Can't accept new action goals. Controller is not running.

So the robot and ROS are connected but the control failed. I use rqt_graph tool to visualize what is going wrong. The trajectory_execution/action_topic is not connected to RViz (nor MoveIt) so I think that's why it fails. Does anyone have any idea of how to fix this? I'm using the following launch commands to start it in ROS:

roslaunch ur_modern_driver ur10e_ros_control.launch robot_ip:=
roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true
roslaunch ur10_e_moveit_config moveit_rviz.launch

Thanks in advance for your help.

Google Drive RQT_GRAPH picture: https://drive.google.com/file/d/1-G4D...

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Closed for the following reason too localized by gvdhoorn
close date 2019-07-01 13:54:46.092550



Seeing as you're using a particular fork of the main driver: please ask plusone on their issue tracker. As-is this is too localised for a question on ROS Answers.

gvdhoorn gravatar image gvdhoorn  ( 2019-07-01 08:07:33 -0600 )edit

Ok, thanks, I will close this Question and opened in GitHub.

drodgu gravatar image drodgu  ( 2019-07-01 13:11:11 -0600 )edit

Hi @drodgu. Were you able to fix the "Can't accept new action goals. Controller is not running" error? I am having the exact same issue while trying to load my physical robot under a namespace. I would appreciate any support with this. Thanks!

yin-ye gravatar image yin-ye  ( 2021-11-16 09:06:39 -0600 )edit

This post was closed because it was off-topic for this forum. I asked in GitHub repository how to solve it and here is the link with all the conversation until I fix it. However, those drivers are deprecated long ago, you should try the connection with the new drivers which was easier to achieve and might be different. So be carefull because the first link is a little outdated, it might not be the most helpful resource.

drodgu gravatar image drodgu  ( 2021-11-16 11:45:28 -0600 )edit