PRA008's profile - activity

@quangg.07 Create controller manager in crX_moveit_controllers.yaml (CR_ROS > dobot_gazebo > config) then add new

Thank for your answer! This is a problem that I've given up and left for a very long time. Now you saved me, thank you v

Hi, I'm having trouble controlling a real robot with this package.

The robot can connect and move normally, but the problem is that the robot's start state does not change according to the current state.

Of course I didn't forget to check and change the start state to current already.

From the picture, when I press plan, the real current status disappears immediately and will start showing movement to the position from the start state (Home pose) instead.

As a result, every time the real robot moves (execute), the state on rviz is incorrect. When changing the trajectory, the real robot will go back to the Home pose first then change to the new position.

This is a problem that I can't switch to other control with. I can't use JointPositionController instead of JointTrajectoryController , because it (joint state) still understands that I am still in Home position.

I want to know what could be the cause. How should I check and where to fix it?

Please help me.

P.S. Thank you all.

At sudo apt install ros-galactic-.......... you should try changing galactic to humble because you are using that versio

At sudo apt install ros-galactic-.......... you should try changing galactic to humble because you are using that versio

At sudo apt install ros-galactic-.......... you should try changing galactic to humble because you are using that versio

joint_states issue in CR_ROS package Hello everyone, has anyone ever used or is currently using CR_ROS? It's a package f

I ran into a similar problem with other robot. Do you know how to solve it?

I have solved the initial problem even though the home state on rviz is still there but the real robot can move point-to

Hi, I am using dobot cr5 with this package and want to control in realtime arm servoing tutorial, but found the following problem

[ INFO] [1680115539.325299331, 24.522000000]: Added FollowJointTrajectory controller for cr5_robot/joint_controller
[ WARN] [1680115544.378328009, 29.534000000]: Waiting for cr5_robot/joint_group_position_controller/follow_joint_trajectory to come up
[ WARN] [1680115550.434961614, 35.535000000]: Waiting for cr5_robot/joint_group_position_controller/follow_joint_trajectory to come up
[ERROR] [1680115556.490301391, 41.536000000]: Action client not connected: cr5_robot/joint_group_position_controller/follow_joint_trajectory

The commands I use are as follows

gazebo.launch
moveit_planning_execution.launch  sim:=True
moveit_rviz.launch config:=True

I've solved this problem and this, which in gazebo.launch I add

<rosparam file="$(find dobot_gazebo)/config/cr5_moveit_controllers.yaml" command="load"/>

<node name="joint_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn cr5_robot/joint_controller" respawn="false" output="screen"/>

<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="load cr5_robot/joint_group_position_controller" />

in cr5_moveit_controllers.yaml I have modified controller list as below, I try to add joint_group_position_controller to it. (I've tried building without cr5_robot but it didn't work.)

cr5_robot:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50
  joint_controller:
    type: position_controllers/JointTrajectoryController
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      joint1: {trajectory: 0.1, goal: 0.1}
      joint2: {trajectory: 0.1, goal: 0.1}
      joint3: {trajectory: 0.1, goal: 0.1}
      joint4: {trajectory: 0.1, goal: 0.1}
      joint5: {trajectory: 0.1, goal: 0.1}
      joint6: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
  joint_group_position_controller:
    type: position_controllers/JointGroupPositionController
    joints:
      - joint1
      - joint2
      - joint3
      - joint4
      - joint5
      - joint6

and in moveit_planning_excution.launch have added

<remap if="$(arg sim)" from="/follow_joint_trajectory" to="/cr5_robot/joint_controller/follow_joint_trajectory"/>

I used to change the remap to cr5_robot/joint_group_position_controller/follow_joint_trajectory didn't work either. The result of all the fixes is that cr5_robot/joint_controller can be used normally but I still get stuck Waiting for cr5_robot/joint_group_position_controller/follow_joint_trajectory to come up and have rqt_graph as picture.

which added ros_control_controller_manager according to the tutorial, it shouldn't be extracted like this. Anyway, this fix I've done on the Kuka KR16 and it worked but it didn't work this time.

P.S. If I change the type from position_controllers/JointGroupPositionController to position_controllers/JointTrajectoryController, it can be summoned successfully, but it won't be right.

For anyone who is stuck with the same problem as me. The solution is that you have to create ros_control_controller_mana

Start state does not change according to current state Hi, I'm having trouble controlling a real robot with this package

Waiting for joint_group_position_controller/follow_joint_trajectory to come up Hi, I am using dobot cr5 with this packag

Waiting for joint_group_position_controller/follow_trajectory to come up Hi, I am using dobot cr5 with this package and

Waiting for <controller name=""> to come up of dobot cr5 Hi, I am using dobot cr5 with this package and want to co

Waiting for <controller name=""> to come up of dobot cr5 Hi, I am using dobot cr5 with this package and want to co

Waiting for <controller name=""> to come up of dobot cr5 Hi, I am using dobot cr5 with this package and want to co

Waiting for <controller name=""> to come up of dobot cr5 Hi, I am using dobot cr5 with this package and want to co

@Ravi Joshi OK, I will try it. Thank you for your advice.

Thanks!, I'll try to read it.

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