What should be the correct roslaunch command and topic for script to move UR arm?

asked 2020-04-19 15:46:18 -0500

Vuro H gravatar image

Hi, I'm trying to run a simple test script that moves the Universal Robots ROS Driver. I'm using Universal_Robots_ROS_Driver and fmauch/universal_robot on Ubuntu 18.04.

I'm wondering if it's possible to run the test_move.py script to get the arm to move in simulation. I've copied this script from the fmauch/universal_robot package to the Universal_Robots_ROS_Driver package (now in both packages) to try to run it. I've also changed line 94 of test_move.py from 'follow_joint_trajectory' to 'scaled_pos_traj_controller/follow_joint_trajectory' because of this answer.

I've run the following commands:


roslaunch ur_gazebo ur5.launch

rosrun ur_robot_driver test_move.py

I get the output

Waiting for server...

and nothing happens after this.

My rqt_graph is as follows:


I'm guessing that my roslaunch command is incorrect and that I haven't specified the correct topic on which the client and server can communicate. However, I'm not sure how to fix either of these. I would really appreciate some help with this. Thank you very much

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The driver is not used with Gazebo.

What is it you are actually trying to do?

gvdhoorn gravatar image gvdhoorn  ( 2020-04-19 15:57:43 -0500 )edit

I'd like to run a Python script to have the arm constantly rotating (either in Gazebo or RViz, it doesn't matter). I thought trying to adapt the test_move.py script would be a good way to do this. However, I haven't had any luck so far. What do you think I should do to achieve this? Thank you very much for your help, I really appreciate it

Vuro H gravatar image Vuro H  ( 2020-04-19 16:08:29 -0500 )edit