UR5e action server does not start

asked 2019-09-10 03:50:54 -0500

Gates
68 ●13 ●18 ●22

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.

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answered 2019-09-10 06:00:44 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

You cannot use ur_modern_driver with e-series controllers right now.

There is an open pull request (ros-industrial/ur_modern_driver#216) which adds preliminary support, but the current focus is on the new driver for CB3 robots and e-series robots announced last year (presentation).

Either apply for the closed beta test, or use the PR with your UR5e.

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What is PR?

I made it work by setting UR53 to remote control mode (on the upper left corner) and using ur5e_ros_control.launch (instead of ur5_bringup.launch). Now I am able to do data acquisition by rostopic echo /joint_states.

I tried using moveit now. I can visualize the robot pose in real time(ok, a couple of ms delayed) by changing the robot pose using the pendant. After setting the controller.yaml, I can get the success return for execution but there is no motion on the robot side. This may be caused because of the incompatibility of the ur_modern_driver and UR5e, as you said. I am still digging into it. I will update the answer if I get a valuable result.

And please anyone feel free if you have any suggestions at that point.

Gates ( 2019-09-10 09:33:44 -0500 )edit

Do not use ur_modern_driver without the changes in ros-industrial/ur_modern_driver#216 with an e-series controller.

And even then the new driver would be recommended.

gvdhoorn ( 2019-09-10 09:35:27 -0500 )edit

What is PR btw?

Gates ( 2019-09-11 03:16:21 -0500 )edit

A PR is a Pull Request.

gvdhoorn ( 2019-09-11 03:32:48 -0500 )edit

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answered 2019-09-11 02:16:54 -0500

Gates
68 ●13 ●18 ●22

I can connect UR5e with ur_modern_driver by:

roslaunch ur_modern_driver ur5e_ros_control.launch robot_ip:=YOUR_ROBOT_IP

I set the network static on the UR side and select the remote control mode on the upper right corner. At this step, I can read joint angles in real time(so-called).

For controlling it, I used the template moveit package in universal_robot, ur5_e_moveit_config. I set up the controller name in controller.yaml and created joint_names.yaml for joint names. Be careful that the first joint is not the shoulder but elbow. You should have viewed it by echo /joint_states.

Then I modified the ur5_e_moveit_controller_manager.launch.xml to direct my new controller file. And finally I disabled the fake controller in the demo.launch in the moveit_config package and set up real \joint_states instead.

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If you are happy, I'm happy, but note that you're doing this against the advice of a maintainer.

gvdhoorn ( 2019-09-11 02:18:54 -0500 )edit

yes, I agree on that. Just I had to make a small demo in a very short period. I wanted to stick on ROS instead of the UR Software. I just wanted to share my solution if anyone else is in my situation, as well. But yes, thank you, it should be underlined that it is an deprecated solution.

Gates ( 2019-09-11 02:24:18 -0500 )edit

I wanted to stick on ROS instead of the UR Software.

I'm confused:

ros-industrial/ur_modern_driver#216 contains the changes to ur_modern_driver to work towards e-series compatibility
the new UR & FZI driver is still a ROS driver (in fact, it reuses parts of ur_modern_driver)

both of those would be ROS through-and-through.

gvdhoorn ( 2019-09-11 03:05:32 -0500 )edit

I am just saying that I wanted to use ROS (ur_modern_driver or any other package what so ever) for my small demo. I didn't want to go for the conventional UR programming by its software. My answer was for

you're doing this against the advice of a maintainer.

Whatever, the problem is solved. No need for confusion any longer, I suppose :)

Gates ( 2019-09-11 03:15:34 -0500 )edit

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UR5e action server does not start

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