ur modern driver ur5 PolyScope 3.10

Just received a UR5 with PolyScope 3.10, tried to connect ROS to it via ur modern driver kinetic-devel and error encountered. Apart from downgrading PolyScope from 3.10 to 3.9.1, is there any other way round it?

Asked by Victor Wu on 2019-11-01 01:17:11 UTC

Comments

You need to provide much more detail. What error message do you receive? Can you ping the robot from the control PC?

Upgrading PolyScope probably isn't the solution, basically any PolyScope version should work (I think)

Asked by AndyZe on 2019-11-01 22:23:36 UTC

did you make it work ? I am at the same step now, I can link ur5 with moveit but still have issue with the controller. I am using driver Universal_Robots_ROS_Driver

Asked by Abdu on 2019-11-29 14:30:20 UTC

Answers

Please use UniversalRobots/Universal_Robots_ROS_Driver for newer versions of Polyscope on CB3 and e-series controllers.

Asked by gvdhoorn on 2019-11-02 08:55:30 UTC

Comments

Thank you very much for the information which I do not have. That is exactly what I hope for and fortunately I have not downgraded the PolyScope from 3.10 to 3.9.1 yet. I will try it out tomorrow of day after. I will certainly come back to tell everybody and close this if and when it works.

Asked by Victor Wu on 2019-11-03 07:42:35 UTC

I am just reading about this UR ROS Driver and was very disappointed to find that it does not support velocity based control, which is what the ur modern driver supports!

Asked by Victor Wu on 2019-11-04 02:51:02 UTC

Please refer to UniversalRobots/Universal_Robots_ROS_Driver#1.

Asked by gvdhoorn on 2019-11-04 02:56:09 UTC