Fanuc Roboguide and ROS MoveIt Execution
Dear all,
My question concerns about specific details needed so that we can see movements that occur inside ROS/MoveIt/Rviz
also in the simulated robot inside Roboguide
.
Briefly, I use Ubuntu 18.04.2 LTS bionic
and ros-melodic
. I have ROS/Moveit respositories for fanuc. I downloaded, installed and built these repositories from this link under my catkin_ws
.
On Windows side, I have installed Roboguide
. I have followed this link and this link to make necessary configurations inside Roboguide
on the virtual controller. When creating the work-cell, I chose R-1000iA/80F
robot model.
On Linux side, specifically, I used fanuc_r1000ia80f_moveit_config
repo.
On the TP, I have started the ROS TPE program. The following message appears:
38497 RSTA Waiting for ROS state prox
then I run the following on a terminal in ROS pc.
roslaunch fanuc_r1000ia_support robot_state_visualize_r1000ia80f.launch robot_ip:=192.168.0.4 use_bswap:=false
Immediately, the following message appears on TP.
38499 RSTA Connected.
When I jog the robot in Roboguide. RVIZ shows the same movements.
Within rviz
, using the motion planning plugin, I can plan
a very simple movement specifying an end state. However, when I try to execute
, it waits for a while and then fails
.
I received the following errors on the terminal in my ROS PC.
[ERROR] [1597341098.351110836]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ERROR] [1597341098.351167409]: Known controllers and their joints:
[ERROR] [1597341098.351240102]: Apparently trajectory initialization failed
Please, can you help me in this regard. Some suggestions or indicators to anything that may be the cause of this problem.
thanks,
Zahid