KUKA KR 10 & Gazebo

asked 2019-11-12 09:39:46 -0600

Mr.7th gravatar image

updated 2019-11-13 06:22:33 -0600

Hii. I am trying to launch KUKA KR 10 robot arm in Gazebo, but I can't. I downloaded the repository from http://wiki.ros.org/kuka_experimental. I can launch my robot arm in Rviz, but I don't know how to this on Gazebo I am using Ubuntu 16.04 LTS and ROS Kinetic. Does anyone know how to fix this? Many thanks.

I added some code in my launch file. It opens the empty world on Gazebo, but not my robot. This is my code on the launch file:

<?xml version="1.0"?>
<launch>


<!--Launch a gazebo world-->
<include file="$(find gazebo_ros)/launch/empty_world.launch">

    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

<!--Spawning the robot into the world-->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr10_support)/urdf/kr10r1100sixx_macro.xacro'"/>
        <arg name="x" default="0"/>
        <arg name="y" default="0"/>
        <arg name="z" default="2"/>

    <node name="mybot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model kr10r1100sixx_macro -x $(arg x) -y $(arg y) -z $(arg z)"/>


<!--Launch the Robot in Rviz-->
  <include file="$(find kuka_kr10_support)/launch/load_kr10r1100sixx.launch" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="true" />
  </node>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>

And also, these are the message I receive them on terminal:

amirmahdi@amirmahdi-MacBookPro:~$ roslaunch kuka_kr10_support test_kr10r1100sixx.launch
... logging to /home/amirmahdi/.ros/log/d32191ec-054b-11ea-97fc-f45c89950ef7/roslaunch-amirmahdi-MacBookPro-10243.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://amirmahdi-MacBookPro:42783/

SUMMARY

PARAMETERS
 * /joint_state_publisher/use_gui: True
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    mybot_spawn (gazebo_ros/spawn_model)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [10260]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d32191ec-054b-11ea-97fc-f45c89950ef7
process[rosout-1]: started with pid [10273]
started core service [/rosout]
process[gazebo-2]: started with pid [10284]
process[gazebo_gui-3]: started with pid [10301]
process[mybot_spawn-4]: started with pid [10307]
process[joint_state_publisher-5]: started with pid [10308]
process[robot_state_publisher-6]: started with pid [10309]
process[rviz-7]: started with pid [10310]
libGL error: failed to create drawable
SpawnModel script started
[ INFO] [1573563383.973476244]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1573563383.981438227]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1573563384.083550062]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1573563384.084523245]: waitForService: Service ...
(more)
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Comments

It seems there is no error on the terminal. But I don't know why it is not working!

Mr.7th gravatar imageMr.7th ( 2019-11-12 09:44:50 -0600 )edit

I am using this tutorial to launch my KUKA KR10 file in Gazebo (https://www.youtube.com/watch?v=dy3JK...). I can launch the robot the video, but I can't do it with my kuka arm. We both are using the same technique to launch the .xacro file.

Mr.7th gravatar imageMr.7th ( 2019-11-13 06:24:27 -0600 )edit

I tried to use MoveIt Setup Assistant to generate tutorial a URDF file and save it in my directory. First I launched an empty world in the gazebo, and the using spawn command line on terminal to launch my robot arm. I could launch it, but the arm is stock on the air and doesn't fall of on the ground. Also, after trying to navigating the arm in the Gazebo, Gazebo won't work anymore and doesn't respond, and I have to force quit it!

Mr.7th gravatar imageMr.7th ( 2019-11-13 06:38:53 -0600 )edit