Ask Your Question

Victor Wu's profile - activity

2022-01-20 01:14:19 -0600 asked a question noetic stereo_image_proc cuda StereoSGBM

noetic stereo_image_proc cuda StereoSGBM Is there a way to use the StereoSGBM of OpenCV with CUDA in stereo_image_proc o

2022-01-05 20:07:39 -0600 commented question Cameracheck.py is not working

Have you resolved the problem? I am facing the same problem!

2021-08-27 10:31:19 -0600 received badge  Notable Question (source)
2021-08-04 16:44:02 -0600 received badge  Notable Question (source)
2021-08-04 16:44:02 -0600 received badge  Popular Question (source)
2021-07-27 06:06:14 -0600 received badge  Popular Question (source)
2021-07-27 06:06:14 -0600 received badge  Notable Question (source)
2021-04-06 04:44:39 -0600 received badge  Notable Question (source)
2021-04-06 04:44:39 -0600 received badge  Famous Question (source)
2021-04-03 05:13:35 -0600 received badge  Famous Question (source)
2021-03-21 22:39:22 -0600 asked a question Get Digital Input from UR5

Get Digital Input from UR5 How to use ros service to get the digital input on ur5 while using ur_robot_driver?

2021-02-11 12:29:26 -0600 marked best answer undefined parameters [kinematics_file] in urdf.xacro

I tried to setup the moveit configuration using the moveit setup assistant and the ur5.urdf.xacro from universal robot ros driver. I cannot even load the file and it complaint [kinematics_file] as undefined parameters.

First, what is this kinematics file? Second, where and how should I specify it or define it? Third, is this the calibration data?

Thank your very much for any help.

Regards, Victor Wu.

2021-01-24 19:46:05 -0600 received badge  Famous Question (source)
2021-01-12 09:37:49 -0600 received badge  Popular Question (source)
2021-01-08 02:29:11 -0600 marked best answer bringing up ur5, controller spawner shutted down

I finally come around to try the new ur robot driver. When I tried to bring it up, it gave me:

transport error completing service call: unable to receive data from sender, check sender's logs for details

The command that I put in was:

$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.0.103 kinematics_config:=${HOME}/my_robot_calibration.yaml

The response was:

auto-starting new master
process[master]: started with pid [2321]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 2f73b408-4c95-11ea-9b7d-a85e4557a437
process[rosout-1]: started with pid [2332]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [2336]
process[ur_hardware_interface-3]: started with pid [2340]
process[ros_control_controller_spawner-4]: started with pid [2341]
process[ros_control_stopped_spawner-5]: started with pid [2342]
process[controller_stopper-6]: started with pid [2343]
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [2344]
[ INFO] [1581401422.643390258]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1581401422.645964371]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1581401422.648251308]: Initializing dashboard client
[ INFO] [1581401422.651484729]: Connected: Universal Robots Dashboard Server

[ INFO] [1581401422.660647089]: Initializing urdriver
[ INFO] [1581401422.661400171]: Checking if calibration data matches connected robot.
[ WARN] [1581401422.662035962]: No realtime capabilities found. Consider using a realtime system for better performance
INFO: cannot create a symlink to latest log directory: [Errno 17] File exists
[INFO] [1581401422.905321]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1581401422.907248]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1581401423.015094660]: Calibration checked successfully.
[ WARN] [1581401423.719382706]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1581401423.784345119]: Setting up RTDE communication with frequency 125.000000
[ WARN] [1581401424.812490023]: No realtime capabilities found. Consider using a realtime system for better performance
[ INFO] [1581401424.813013666]: Loaded ur_robot_driver hardware_interface
[ INFO] [1581401424.837119755]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1581401424.837144171]: Service available.
[ INFO] [1581401424.837154919]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1581401424.837629156]: Service available.
[INFO] [1581401425.027613]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1581401425.028505]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1581401425.033724]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1581401425.035053]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1581401425.039553]: Loading controller: pos_traj_controller
[INFO] [1581401425.041020]: Loading controller: joint_state_controller
[ INFO] [1581401425.095665610]: Robot's safety mode is now NORMAL
[ INFO] [1581401425.098915574]: Robot mode is now RUNNING
[INFO] [1581401425.128532]: Controller Spawner: Loaded controllers: pos_traj_controller
[INFO] [1581401425.136407]: Loading controller: scaled_pos_traj_controller
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/controller_manager/spawner", line 207, in <module>
    if __name__ == '__main__': main()
  File "/opt/ros/melodic/lib/controller_manager/spawner", line 185, in main
    resp = load_controller(name)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 439, in __call__
    return self.call(*args, **kwds)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 529, in call
    raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details ...
(more)
2020-12-18 13:32:19 -0600 marked best answer Difference between joint_trajectory_action and follow_joint_trajectory

I want to find out if there is any difference between joint_trajectory_action and follow_joint_trajectory.

I used to use joint_trajectory_action as the action_ns in the controllers.yaml file under (project)_moveit_config/config folder. Matching this name, when I create the action client in my program I did:

actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> ac("joint_trajectory_action",true);

This will work for me both for just RViz simulation and driving the real ur3.

Then I changed to use the new ur_modern_driver, when I try to bring up the RViz, it will always that it is waiting for the /joint_trajectory_action to come up and Action client not connected: /joint_trajectory_action. I then tried to use follow_joint_trajectory as the action_ns in the controllers.yaml file. Then when the RViz was brought up it did not complaint and I can launch the

(project)_moveit_config/launch/(project)_planning_execution.launch

to plan and execute using moveit in simulation. However, when I try to run my program to control the real ur3 then it complaints that it cannot connect to the action server and hence cannot execute trajectory for my program.

2020-12-16 20:03:55 -0600 received badge  Famous Question (source)
2020-11-28 01:51:42 -0600 received badge  Famous Question (source)
2020-10-12 03:39:08 -0600 received badge  Notable Question (source)
2020-10-09 22:47:21 -0600 marked best answer Robot model is not displayed when loading a urdf file using the moveit setup assistant #786

I have learned that this happened to Indigo before but I am using Melodic. the moveit-setup-assistant was working for me just last week. Suddenly, it does not display the robot after loading the model!

2020-10-08 09:45:13 -0600 received badge  Student (source)
2020-10-08 09:30:42 -0600 received badge  Famous Question (source)
2020-09-16 20:16:31 -0600 received badge  Notable Question (source)
2020-09-16 02:15:01 -0600 commented question Jerky motion even when using vel_traj_controller of ur_robot_driver

How to close this question here? without an answer?

2020-09-16 02:13:44 -0600 commented question Jerky motion even when using vel_traj_controller of ur_robot_driver

@gvdhoorn, I am sorry, first I don't know how to cross link the post here. Second, I found that issue #206 after I post

2020-09-16 02:08:15 -0600 commented question Jerky motion even when using vel_traj_controller of ur_robot_driver

@gvdhoorn, I have posted similar question in robot_driver: unused / non-existing 'vel_based_pos_traj_controller'? #206

2020-09-15 20:43:22 -0600 asked a question Jerky motion even when using vel_traj_controller of ur_robot_driver

Jerky motion even when using vel_traj_controller of ur_robot_driver When I was using ur_modern_driver on ur3 last year,

2020-09-15 01:00:46 -0600 marked best answer use scaled_vel_traj_controller in moveit_config

Since the use of ur_robot_driver, I have been using scaled_pos_traj_controller in the ros_controllers.yaml file. Now I want to use scaled_vel_traj_controller. Simply changing the action_ns: in the ros_controllers.yaml file does not work. Moveit keep waiting for the scaled_vel_traj_controller to come up. I have found a ur5_controllers.yaml in the config folder under ur_robot_driver. How to adapt this to be used?

2020-09-15 01:00:37 -0600 answered a question use scaled_vel_traj_controller in moveit_config

It has been found that in the planning_execution.launch file, one should have included ur5_bringup.launch. There, one of

2020-09-15 01:00:37 -0600 received badge  Rapid Responder (source)
2020-09-14 03:55:35 -0600 edited question use scaled_vel_traj_controller in moveit_config

use scaled_vel_traj_controller in moveit_config Since the use of ur_robot_driver, I have been using scaled_pos_traj_cont

2020-09-14 03:49:35 -0600 asked a question use scaled_vel_traj_controller in moveit_config

use scaled_vel_traj_controller in moveit_config Since the use of ur_robot_driver, I have been using scaled_pos_traj_cont

2020-09-10 08:55:57 -0600 received badge  Popular Question (source)
2020-09-08 04:45:23 -0600 asked a question Robot model is not displayed when loading a urdf file using the moveit setup assistant #786

Robot model is not displayed when loading a urdf file using the moveit setup assistant #786 I have learned that this hap

2020-08-16 08:00:39 -0600 commented answer Different Axes of rotation arrangement for UR5

Okay, it was generated by hand. It still refer to a specific link orientation. Since the link orientation used is not un

2020-08-16 07:59:43 -0600 commented answer Different Axes of rotation arrangement for UR5

Okay, it was generated by hand. It still refer to a specific link orientation. Since the link orientation used is not un

2020-08-16 03:28:01 -0600 commented answer Different Axes of rotation arrangement for UR5

How was the ur_kinematics generated? Did it use the same link orientations as the melodic-devel branch or the same as th

2020-08-15 22:54:47 -0600 received badge  Popular Question (source)
2020-08-14 22:50:38 -0600 edited question Ik Solver for Descartes to be used on UR5

Ik Solver for Descartes to be used on UR5 I have been trying to use Descartes to plan trajectories for UR5 but not very

2020-08-14 22:06:54 -0600 asked a question Ik Solver for Descartes to be used on UR5

Ik Solver for Descartes to be used on UR5 I have been trying to use Descartes to plan trajectories for UR5 but not very

2020-08-14 21:47:27 -0600 received badge  Popular Question (source)
2020-08-14 04:07:03 -0600 commented answer Different Axes of rotation arrangement for UR5

@fexner I simply follow the instructions from the moveit_tutorials ikfast_tutorial. There, I will generate a .urdf file

2020-08-14 04:06:16 -0600 commented answer Different Axes of rotation arrangement for UR5

@fexner I simply follow the instructions from the moveit_tutorials ikfast_tutorial. There, I will generate a .urdf file

2020-08-14 03:57:02 -0600 commented answer Different Axes of rotation arrangement for UR5

@gvdhoorn Thank you for your comment. I am really confused for how do the three things, Descartes, MoveIt and OMPL relat

2020-08-14 03:47:08 -0600 commented answer Different Axes of rotation arrangement for UR5

@fexner thank you very much for your reply. So, you are using trac_ik for UR. I may try that instead. The whole point is

2020-08-14 03:43:30 -0600 commented answer Different Axes of rotation arrangement for UR5

@fexner thank you very much for your reply. So, you are using trac_ik for UR. I may try that instead. The whole point is

2020-08-13 21:20:31 -0600 asked a question Different Axes of rotation arrangement for UR5

Different Axes of rotation arrangement for UR5 Since the new version of UR driver available for CB3 UR's, the urdf from

2020-08-13 03:12:32 -0600 marked best answer Does UR5, (or UR manipulators in general), still need to use the joint_limited version of the urdf's

When I was using the urdf for UR5, the ur5_robot.urdf.xacro as the top level urdf and the moveit setup assistant to generate the moveit_config for my manipulator, most of the "random valid" goal configurations in RViz cannot find a plan. I spent some time trying to find out why. Then I discovered that if I set the joint_limited parameter from "false" to "true" in the ur5_robot.urdf.xacro file and redo the moveit_config then most of the "random valid" goals configurations in RViz can find a plan. Then, I search in the internet and found "Elbow joint self-collisions break path planning when full joint space is used on UR5 #265". Gentlemen there discussed the topic on joint limits for UR5. That was October of 2016.

I wonder if the issue has been resolved and do we still need to use the joint limited versions of urdf when using Universal Robots and MoveIt at the same time.

Your help would be very much appreciated.