Test Script to Move Simulated UR Robot in Gazebo [closed]

asked 2020-04-20 07:00:57 -0500

Vuro H gravatar image

Hi, I'd like to run a Python script to have the Universal Robots arm constantly rotating in simulation (either in Gazebo or RViz, it doesn't matter). I'm using Universal_Robots_ROS_Driver and fmauch/universal_robot on Ubuntu 18.04. I thought trying to adapt the test_move.py script from fmauch/universal_robot would be a good way to do this. However, I haven't had any luck so far and am looking for help/guidance on what the best way to achieve this would be.

I've copied the test_move.py script from the fmauch/universal_robot package to the Universal_Robots_ROS_Driver package (so that it's 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 in order to get the arm moving in simulation. Thank you very much

edit retag flag offensive reopen merge delete

Closed for the following reason duplicate question by Vuro H
close date 2020-05-01 06:23:21.800705


This reads like a duplicate of #q349894.

Please do not post duplicates.

gvdhoorn gravatar image gvdhoorn  ( 2020-04-20 07:07:06 -0500 )edit