Not able to established connection between Kuka robot and Movet

edit

Hello there,

I have tested the connection and connectivity to the real robot by using this command:

$ roscore 
$ roslaunch kuka_rsi_hw_interface test_hardware_agilus.launch sim:=false
$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

And it is working fine as excepted. Even if I change my real-robot moments from the smart pad, I can see the Moveit robot moving parallelly (Link).

For configuring my real robot with moveit, I followed these links: Link 1,, Link 2, Link 3.

From this above link, I have edited the files:

1. After moveit setup assistance: In the moveit package, add this file moveit_planning_execution_rsi.launch in the launch folder.

   <launch>
     <!-- A convenience launch file that launches all of the required nodes to
          plan and execute motions using RViz, MoveIt and the ros_control based
          KUKA RSI driver from the kuka_rsi_hw_interface package.
     -->
    <arg name="pipeline" default="ompl" />
     <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
     <!--  - if sim=false, a robot_ip argument is required -->
     <arg name="sim" default="true" doc="Use industrial robot simulator instead of real robot" />
     <arg name="robot_ip" unless="$(arg sim)" doc="IP of controller (only required if not using industrial simulator)" />
   
     <!-- By default, we do not start a database (it can be large) -->
     <arg name="db" default="false" doc="Start the MoveIt database" />
     <!-- Allow user to specify database location -->
     <arg name="db_path" default="$(find kuka_moveit_roof)/default_warehouse_mongo_db" doc="Path to database files" />
   
     <!-- By default, we are not in debug mode -->
     <arg name="debug" default="false" />
   
     <!-- By default, we will load or override the robot_description -->
     <arg name="load_robot_description" default="true"/>
   
     <arg name="use_rviz" default="true" />
   
     <!-- Non-standard joint names -->
     <rosparam command="load" file="$(find kuka_kr16_support)/config/joint_names_kr16.yaml" />
   
     <include file="$(find kuka_moveit_roof)/launch/planning_context.launch" >
       <arg name="load_robot_description" value="true" />
     </include>
   
   <!--  <arg name="use_gui" default="false" />-->
   <!--    &lt;!&ndash; We do not have a robot connected, so publish fake joint states &ndash;&gt;-->
   <!--  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">-->
   <!--    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>-->
   <!--  </node>-->
   <!--  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">-->
   <!--    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>-->
   <!--  </node>-->
   
   <!--   run the robot simulator and action interface nodes-->
     <group if="$(arg sim)">
       <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
     </group>
   
     <!-- run the "real robot" interface nodes -->
     <group unless="$(arg sim)">
       <include file="$(find kuka_kr16_support)/launch/robot_interface_streming_kr16.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
       </include>
     </group>
   
     <!-- publish the robot state (tf transforms) -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
      <include file="$(find kuka_moveit_roof)/launch/move_group.launch">
       <arg name="allow_trajectory_execution" value="true"/>
       <arg name="fake_execution" value="true"/>
       <arg name="info" value="true"/>
       <arg name="publish_monitored_planning_scene" value="true" />
     </include>
   
     <include file="$(find kuka_moveit_roof ...