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Can't control Ur3 out of rviz

asked 2020-06-30 09:00:32 -0500

Eike2601 gravatar image

updated 2020-06-30 09:41:55 -0500

gvdhoorn gravatar image

Hello, I'm using ROS melodic on Ubuntu 18.04 with Kernel 5.3.0.59-generic a UR3 Robot

I followed the tutorial for initalizing (https://github.com/UniversalRobots/Un...). I have changed the Ethernet/IP configurations (see https://answers.ros.org/question/3552...) and installed everything new from scretch.

Now I have a bunch of WARN and ERRORS and after two weeks of searching and trying to fix them, I'm not quite sure which I can ignore and which are essential:

First I'm starting with calibrating the robot with the command:

roslaunch ur_calibration calibration_correction.launch \
 robot_ip:=131.246.27.113 target_filename:="${HOME}/my_robot_calibration.yaml"

After that, I'm copying the "my_robot_calibration.yaml" document into the catkin_ws/.../ur_calibration folder (for some reason it seems not to work, if it's not in the folder) Until this point everything is fine, despite the fact that I have no realtime capabilities (but I think that's not necessary right now)

Then the Readme says:

Once the robot driver is started, load the previously generated program on the robot panel that will start the External Control program node and execute it. From that moment on the robot is fully functional. You can make use of the Pause function or even Stop (black_medium_small_square) the program. Simply press the Play button (arrow_forward) again and the ROS driver will reconnect.

And here I'm not sure how to go on: I tried to load the program "external control.urp" nevertheless URCaps is shown with a white tick on green circle on the Setup Robot (do I have to load the program in "external control.urp in this case??)

Now I'm going on with starting Moveit! with:

roslaunch ur_bringup ur3_bringup.launch robot_ip:=131.246.27.113 [reverse_port:=50002]

This gives me the warnings:

[ WARN] [1593524747.723717318]: Shutdown request received.
[ WARN] [1593524747.724436434]: Reason given for shutdown: 
[new node registered with same name]
[robot_state_publisher-1] process has finished cleanly
log file: /home/robo/.ros/log/ec361ff0-bad5-11ea-adeb-4c5262ae3479/robot_state_publisher-1*.log
Setting prefix to 
[WARN] [1593524748.260614]: No calibration offset for joint "shoulder_pan_joint"
[WARN] [1593524748.262700]: No calibration offset for joint "shoulder_lift_joint"
[WARN] [1593524748.264639]: No calibration offset for joint "elbow_joint"
[WARN] [1593524748.266711]: No calibration offset for joint "wrist_1_joint"
[WARN] [1593524748.268675]: No calibration offset for joint "wrist_2_joint"
[WARN] [1593524748.270664]: No calibration offset for joint "wrist_3_joint"
[INFO] [1593524748.272616]: No calibration offsets loaded from urdf
[INFO] [1593524748.275704]: Max velocity accepted by ur_driver: 10.0 [rad/s]
[INFO] [1593524748.280168]: Bounds for Payload: [0.0, 3.0]
Traceback (most recent call last):
  File "/home/robo/catkin_ws/src/fmauch_universal_robot/ur_driver/src/ur_driver/driver.py", line 1018, in <module>
    if __name__ == '__main__': main()
  File "/home/robo/catkin_ws/src/fmauch_universal_robot/ur_driver/src/ur_driver/driver.py", line 939, in main
    server = TCPServer(("", reverse_port), CommanderTCPHandler)
  File "/usr/lib/python2.7/SocketServer.py", line 420, in __init__
    self.server_bind()
  File "/usr/lib/python2.7/SocketServer.py", line 434, in server_bind
    self.socket.bind(self.server_address)
  File "/usr/lib/python2.7/socket.py", line ...
(more)
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Now I'm going on with starting Moveit! with:

roslaunch ur_bringup ur3_bringup.launch robot_ip:=131.246.27.113 [reverse_port:=50002]

ur_bringup is a package in ros-industrial/universal_robot.

The README.md in UniversalRobots/Universal_Robots_ROS_Driver (this one) does not mention that package, so why do you use it?

Please re-read the readme in UniversalRobots/Universal_Robots_ROS_Driver and follow the instructions carefully.

gvdhoorn gravatar image gvdhoorn  ( 2020-06-30 09:44:27 -0500 )edit

I read this roslaunch in an other thread. And because of the fact, that I'm a beginner I didn't know it better. The problem is, that there is no guideline in this readme for how exactly starting Moveit! and I'm not quite sure which packages have to be launched. Would you please give me a hint?

BTW: would you please tell me how to bring the post in that better looking format, my original posts are not very clearly with my style.

Eike2601 gravatar image Eike2601  ( 2020-06-30 11:26:45 -0500 )edit

Please first confirm whether, following the instructions in the readme, you can control the robot using the rqt_joint_trajectory_controller.

If that doesn't work, trying to get MoveIt to work does not make sense.

gvdhoorn gravatar image gvdhoorn  ( 2020-06-30 12:20:09 -0500 )edit

well, I installed the rqt_joint_trajectory_controller. I got no trouble with it, BUT if I compare it with the picture from the package summery I am not able to choose a controller or vary the joints etc.

Here is a upload from the rqt_joint_trajectory_controller https://ibb.co/wch3kgF

I think it could have sth do with the fact, that if I want to load the installed program "external control.urp" with the HMI on the robot, the connection refused. I followed the readme and filled in at "remote host's IP" the IP of my tower, connected to the robot and at "custom port" I take 50002, just like in the example. Are these the right settings? Sorry, it seems to be very stupid.

Kind regards Eike

Eike2601 gravatar image Eike2601  ( 2020-07-01 09:18:19 -0500 )edit

This suggests the driver has not started any of the controllers yet.

As this is for now an issue with setting up the controller-side of the driver, I would recommend you post an issue on the UniversalRobots/Universal_Robots_ROS_Driverissue tracker. Be sure to include a link to your post here on ROS Answers.

Once that is fixed, we can continue here.

Please post a comment here with a link to your issue on the tracker so we can keep things connected.

gvdhoorn gravatar image gvdhoorn  ( 2020-07-01 09:52:21 -0500 )edit
Eike2601 gravatar image Eike2601  ( 2020-07-01 10:20:47 -0500 )edit

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answered 2020-07-06 09:28:38 -0500

Eike2601 gravatar image

updated 2020-07-06 10:18:51 -0500

Ok, now I'm connected with my robot and I am able to use the rqt_joint_trajectory_controller to control the roboters motion.

The next step would be to work with moveit instead of the rqt_controller, but as mentioned, I'm not able to start it. I tried to do it the way it's described in section 3.6 ur_modern_driver.

After I added the following in the 'controllers.yaml' (see here):

  • name: /vel_based_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

I start with roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch and get the output:

` ... logging to /home/robo/.ros/log/7a6400f4-bf8f-11ea-a909-4c5262ae3479/roslaunch-robo-ESPRIMO-P958-11979.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robo-ESPRIMO-P958:32955/

SUMMARY

PARAMETERS * /move_group/allow_trajectory_execution: True * /move_group/capabilities: move_group/MoveGr... * /move_group/controller_list: [{'action_ns': 'f... * /move_group/endeffector/planner_configs: ['SBLkConfigDefau... * /move_group/jiggle_fraction: 0.05 * /move_group/manipulator/longest_valid_segment_fraction: 0.01 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau... * /move_group/max_range: 5.0 * /move_group/max_safe_path_cost: 1 * /move_group/moveit_controller_manager: moveit_simple_con... * /move_group/moveit_manage_controllers: True * /move_group/octomap_resolution: 0.025 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon... * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar * /move_group/planner_configs/SBLkConfigDefault/range: 0.0 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT * /move_group/planning_plugin: ompl_interface/OM... * /move_group/planning_scene_monitor/publish_geometry_updates: True * /move_group/planning_scene_monitor/publish_planning_scene: True * /move_group/planning_scene_monitor/publish_state_updates: True * /move_group/planning_scene_monitor/publish_transforms_updates: True * /move_group/request_adapters: default_planner_r... * /move_group/start_state_max_bounds_error: 0.1 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5 * /move_group/trajectory_execution/execution_duration_monitoring: False * /move_group/use_controller_manager: False * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl... * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True * /robot_description_planning ... (more)

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Asked: 2020-06-30 09:00:32 -0500

Seen: 37 times

Last updated: 3 hours ago