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:

roscore

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:

rqt_graph

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

edit retag flag offensive close merge delete

Comments

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