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One UR5 executing all commands in a 2 UR5 system

asked 2019-12-12 03:45:50 -0600

shu gravatar image

I am trying to use moveit to control two UR5 robots in a script. However, one robot is executing all commands sent to both robots. Could anyone point out where my issue is? Please let me know if more information is needed.

Here is my moveit controller.yaml file:

controller_list:
  - name: "/frank/scaled_pos_traj_controller"
    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: "/klaus/scaled_pos_traj_controller"
    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 my launch file for launching moveit planning for both robots:

<launch>
 <group ns="frank">
   <arg name="sim" default="true" />
   <arg name="limited" default="false"/>
   <arg name="debug" default="false" />
  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
   <arg name="sim" value="$(arg sim)"/>
   <arg name="limited" value="$(arg limited)"/>
   <arg name="debug" value="$(arg debug)"/>
  </include>
 </group>

 <group ns="klaus">
   <arg name="sim" default="true" />
   <arg name="limited" default="false"/>
   <arg name="debug" default="false" />
  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
   <arg name="sim" value="$(arg sim)"/>
   <arg name="limited" value="$(arg limited)"/>
   <arg name="debug" value="$(arg debug)"/>
  </include>
 </group>

</launch>

Below is the console when I run the above launch file then try and klaus a goal (frank tries to take it)

team-sewts@sewts-Legion:~/catkin_ws$ roslaunch ur5_moveit_config x2_ur5_moveit_planning_execution.launch
... logging to /home/team-sewts/.ros/log/679066c4-1cc0-11ea-9d94-98eecb87900f/roslaunch-sewts-Legion-13006.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:35779/

SUMMARY
========

PARAMETERS
 * /frank/move_group/allow_trajectory_execution: True
 * /frank/move_group/capabilities: move_group/MoveGr...
 * /frank/move_group/controller_list: [{'action_ns': 'f...
 * /frank/move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /frank/move_group/jiggle_fraction: 0.05
 * /frank/move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /frank/move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /frank/move_group/max_range: 5.0
 * /frank/move_group/max_safe_path_cost: 1
 * /frank/move_group/moveit_controller_manager: moveit_simple_con...
 * /frank/move_group/moveit_manage_controllers: True
 * /frank/move_group/octomap_resolution: 0.025
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /frank/move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /frank/move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /frank/move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /frank/move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /frank/move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /frank/move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /frank/move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /frank/move_group/planner_configs/RRTkConfigDefault/range ...
(more)
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Comments

Are you using UniversalRobots/Universal_Robots_ROS_Driver#57? Because without it there is no support for connecting to multiple UR controllers from a single PC (or really: IP address).

gvdhoorn gravatar imagegvdhoorn ( 2019-12-12 05:06:06 -0600 )edit

Yes, I've checked some of the parameters from calling rosparam get /klaus/ur_hardware_interface/ and rosparam get /frank/ur_hardware_interface/ are returning the correct values

shu gravatar imageshu ( 2019-12-12 06:07:30 -0600 )edit

Setting parameters is one thing, but the hardware_interface actually using them is something else.

Until the PR I linked to in my previous comment is merged, what you are trying to do is not supported.

The parameters may be there, but the node will not use them.

gvdhoorn gravatar imagegvdhoorn ( 2019-12-12 07:32:14 -0600 )edit

I've pulled the changes and rebuilt the workspace but am still facing the same issue.

Edit: I'm having trouble editing the original question since I'm having a preview appear over the edit box (with the preview option disabled). I've taken this issue over here

shu gravatar imageshu ( 2019-12-18 02:47:01 -0600 )edit

1 Answer

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answered 2020-01-08 09:22:55 -0600

shu gravatar image

updated 2020-01-08 09:25:23 -0600

As described here

Along with this merge, the namespacing in the script I wrote was incorrect and the controllers.yaml file only needed one controller in it. However, this results in the same issue as this

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Asked: 2019-12-12 03:45:50 -0600

Seen: 20 times

Last updated: Jan 08