Controlling 2 real ur5 robots
Hello,
I am trying to control two real ur5 robots. I'm not really sure how to begin so I've been working on editing my moveit and UniversalRobots/Universal_Robots_ROS_Driver package with this question #q269074 in mind.
I've created a ur5_x2_bringup.launch within UniversalRobots/Universal_Robots_ROS_Driver/ur_robot_driver/launch. It calls ur5_bringup.launch twice in separate namespaces:
<launch>
<group ns="klaus">
<arg name="limited" default="false"/>
<arg name="robot_ip" default="169.254.198.35"/>
<arg name="kinematics_config" default="$(find ur_robot_driver)/config/klaus_calibration.yaml"/>
<arg name="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="klaus_" />
<include file="$(find ur_robot_driver)/launch/ur5_bringup.launch">
<arg name="limited" value="$(arg limited)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
</include>
</group>
<group ns="frank">
<arg name="limited" default="false"/>
<arg name="robot_ip" default="169.254.198.38"/>
<arg name="kinematics_config" default="$(find ur_robot_driver)/config/frank_calibration.yaml"/>
<arg name="reverse_port" default="50002"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="frank_" />
<include file="$(find ur_bringup)/launch/ur5_bringup.launch">
<arg name="limited" value="$(arg limited)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
</include>
</group>
</launch>
and my controllers.yaml file within ur5_moveit_config/config:
controller_list:
- name: "/scaled_pos_traj_controller/klaus"
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
- name: "/scaled_pos_traj_controller/frank"
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
and lastly the log:
... logging to /home/team-sewts/.ros/log/e0fe9166-15ef-11ea-bfd9-98eecb87900f/roslaunch-sewts-Legion-16015.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.
started roslaunch server http://sewts-Legion:43869/
SUMMARY
========
PARAMETERS
* /frank/robot_description: <?xml version="1....
* /frank/tf2_buffer_server/buffer_size: 120.0
* /frank/ur_driver/max_payload: 10.0
* /frank/ur_driver/max_velocity: 10.0
* /frank/ur_driver/min_payload: 0.0
* /frank/ur_driver/prefix:
* /klaus/controller_stopper/consistent_controllers: ['joint_state_con...
* /klaus/force_torque_sensor_controller/publish_rate: 125
* /klaus/force_torque_sensor_controller/type: force_torque_sens...
* /klaus/hardware_control_loop/loop_hz: 125
* /klaus/hardware_interface/joints: ['shoulder_pan_jo...
* /klaus/joint_state_controller/publish_rate: 125
* /klaus/joint_state_controller/type: joint_state_contr...
* /klaus/pos_traj_controller/action_monitor_rate: 10
* /klaus/pos_traj_controller/constraints/elbow_joint/goal: 0.1
* /klaus/pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
* /klaus/pos_traj_controller/constraints/goal_time: 0.6
* /klaus/pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
* /klaus/pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
* /klaus/pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
* /klaus/pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
* /klaus/pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
* /klaus/pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
* /klaus/pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
* /klaus/pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
* /klaus/pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
* /klaus/pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
* /klaus/pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
* /klaus/pos_traj_controller/joints: ['shoulder_pan_jo...
* /klaus/pos_traj_controller/state_publish_rate: 125
* /klaus/pos_traj_controller/stop_trajectory_duration: 0.5
* /klaus/pos_traj_controller/type: position_controll...
* /klaus/robot_description: <?xml version="1....
* /klaus/scaled_pos_traj_controller/action_monitor_rate: 10
* /klaus/scaled_pos_traj_controller/constraints/elbow_joint/goal: 0.1
* /klaus/scaled_pos_traj_controller/constraints/elbow_joint/trajectory: 0.2 ...