UR10e real hardware not moving but connected [closed]

asked 2019-07-01 02:03:56 -0500

drodgu gravatar image

updated 2019-07-01 03:24:58 -0500

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:

https://github.com/plusone-robotics/u...

https://github.com/plusone-robotics/u...

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:=10.42.0.100
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

Comments

1

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 imagegvdhoorn ( 2019-07-01 08:07:33 -0500 )edit

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

drodgu gravatar imagedrodgu ( 2019-07-01 13:11:11 -0500 )edit