francirrapi's profile - activity

UR5e + ROS + MoveIt real robot PROTECTIVE STOP Hi everyone, I am using the default setup of universal robots repo (cali

Yes this was the issue for the “dangerous motions” problem. To solve it I had to create my own MoveIt config and then ad

Yes this was the issue for the “dangerous motions” problem. To solve it I had to create my own MoveIt config and then ad

Yes this was the issue for the “dangerous motions” problem. To solve it I had to create my own MoveIt config and then ad

Yes this was the issue for the “dangerous motions” problem. To solve it I had to create my own MoveIt config and then ad

Hi everyone,

I am using the robot to open a drawer through a Python program, and for doing this I am using a lot of points for the eef to reach every time using IK of MoveIt.

But mostly of the times the controller and planner fails (with Aborted message) and this entails to the failure or mostly to collision behaviours.

I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver. As I have an attached gripper, I modified only the ur_macro.xacro file for translating the tool0 link with 0.18 on x-axis wrt flange.

Did I something wrong?? Can you suggest me any better setup, as controller/planner or ik-solver for this problem??

Thank you very much!! I would appreciate a lot your help!!!

UR5e with PC Ros + MoveIt Can't accept new action goals Controller is not running Hi everyone, For moving the real robo

UR5e with PC Ros + MoveIt Can't accept new action goals Controller is not running Hi everyone, For moving the real robo

UR5e with PC ros + moveit Can't accept new action goals Controller is not running Hi everyone, For moving the real robo

UR5e with PC ros + moveit Can't accept new action goals Controller is not running Hi everyone, For moving the real robo

Yes I solved it by creating a totally new moveit package with a new .xacro file.

I solved the problem by creating a new .xacro file including all macros of robot and gripper where I also added a new fr

Hi everyone,

I am using the default setup of universal robots repo (calibration-devel branch of fmauch) and the ur_robot_driver (melodic branch) of Universal_Robots_ROS_Driver. As I have an attached gripper (Robotiq 2f_85 model) to my robot and I need the robot to do some tasks with Inverse Kinematics, it would be perfect to have a moveit configuration with the merge of both robot and gripper.

I saw that universal robot repo doesn’t provide any configuration like this unfortunately, can you please explain me how to do it properly or can you share an already existing package in case there is one?

Or do you know a way to modify properly the URDF file with a new frame for the gripper? In such a way that the IK works wrt to that frame instead of tool0?

Thank you very much!! I would appreciate a lot your help!!!

UR5e with MoveIt object scene/collision avoidance Hi everyone, I am using the robot for doing some tasks with a Python

UR5e with MoveIt object scene/collision avoidance Hi everyone, I am using the robot for doing some tasks with a Python

UR5e with MoveIt object scene/collision avoidance Hi everyone, I am using the robot for doing some tasks with a Python

Thank you very much for you answer @fvd!! I saw the files in this repo but did not understand very well how to add a TF

Perfect, so after the creation of this new .xacro file, with the merge of robot and gripper, I have to create a new move

UR5e + 2F_85 gripper moveit configuration Hi everyone, I am using the default setup of universal robots repo (calibrat

UR5e + 2F_85 gripper moveit configuration Hi everyone, I am using the default setup of universal robots repo (calibrat

UR5e + 2F_85 gripper moveit configuration Hi everyone, I am using the default setup of universal robots repo (calibrat

Thank you very much @gvdhoorn for your answer!! Now I am using the default KDL solver, I tried some time ago even Trak-I

Thank you very much @gvdhoorn for your answer!! Now I am using the default KDL solver, I tried some time ago even Trak-I

Thank you very much for your answers!! Yeah the goal_pose is reachable, I already tried that. But why sometimes when t

UR5e + ROS Melodic + MoveIt best setup for Inverse Kinematics Hi everyone, I am using the robot to open a drawer throu

UR5e + ROS Melodic + MoveIt best setup for Inverse Kinematics Hi everyone, I am using the robot to open a drawer throu

IK fails with real robot UR5e Hi, as I am working with a UR5e and a gripper attached, I modified the urdf in such a way

target pose Hi there, I am working on a UR5e robot with a gripper attached and sending pose target through a ros pc (ubu

target pose Hi there, I am working on a UR5e robot with a gripper attached and sending pose target through a ros pc (ubu