UR5e action server does not start
Hello everyone,
I am trying to control UR5e (URSoftware 5.3.1 version installed) using ur_modern_driver
. I can compute
roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=ROBOT_IP_ADDRESS
Then I can ping my robot using
ping ROBOT_IP_ADDRESS
There seems no problem. However I cannot echo /joint_states - which means I couldn't establish the connection (I suppose).
PS: I have computed those steps assuming that I could use ur5_bringup.launch
for my UR5e just for the connection since the ur_modern_driver repository contains only UR3/5/10 version. If there is a kind of ur5e_bringup.launch
and I am supposed to use it instead, I couldn't find that version.
What I have tried so far:
I have also an old UR5 (Polyscope 1.8 installed). I can connect it using ur_bringup
package then I can echo /joint_states.
When I tried using it with UR5e,
[INFO] [1568105018.652872]: Programming the robot
[INFO] [1568105018.654725]: Programming the robot at 172.31.1.146
Handling a request
[INFO] [1568105019.019390]: Robot connected
[2019-09-10 10:43:39.028796] Out: hello
The terminal stays here and cannot get this message even though I got it in old UR5:
The action server for this driver has been started
I believe I cannot start the action server in the ur_modern_driver
, neither. I am not sure if I should do something on the UR5e side to control it via ROS.
Thank you in advance for any suggestion.