AlexandrosNic's profile - activity

I am connected to a UR3e over the network, working on ROS2 Foxy, on Ubuntu 20.04, via docker.

• I set up the right host IP on the robot and robot’s IP in the launch file
• I installed the external control urcap
• I tried with both enable/disable remote control, and with both local/remote control on teach pendant
• I tried calibrating the robot (with ur_calibration)

Then I run

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.0.4 launch_rviz:=false reverse_ip:=192.168.0.2 limited:=true

on one terminal and

ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur3e robot_ip:=192.168.0.4 launch_rviz:=true reverse_ip:=192.168.0.2

on another terminal.

After that, I run the program on the teach pendant of the robot with the external control (with the correct IP).

Rviz starts with the robot at the right position. I plan and execute a random trajectory.

I get this outputs in terminal 1: Received new action goal Accepted new action goal Goal reached, success! and these on terminal 2: Completed trajectory execution with status SUCCEEDED Solution was found and executed. Plan and Execute request complete! However the real robot does not move. There is no error in the terminals.

Also I was wondering whether warehouse_ros_mongo is really necessary and what does it exactly do?

Any clue what could be the problem here?

PS: It could be a docker issue?

Thank you in advance

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How can I call a ros2 executable with arguments Hello, I have two questions: I would like to create a ROS API to start

Hello,

I have two questions: I would like to create a ROS API to start ROS nodes from a non-ROS python script. For example the non-ROS python script: pick.py, would call the pick_ros.py to start a node (assuming that ROS is already running). Even though this is not elegant, the only way I found to do that, is by writing in the Python script the terminal command: os.system("ros2 run package pick") My first question, is there another way to run ros2 run within Python?

Second, the pick method of the pick_ros executable ideally should take three arguments: x, y, z. Is there a way to call the ros node with arguments, without declaring these as ros parameters? (the reason is, that the pick_ros.py calls smach (state machine), which is not a node. And declaring parameters can be done only in nodes) So I would like something like: ros2 run package pick x=0.2, y=0.2, z=0.2

Edit: Declaring parameters however raises a type error:

I get x, y, z values from an action message (as floats - double type is not valid), whether ROS parameter types only accepts double type (no float) which for a reason identifies it as a type error.

In particular, my action msg is:

# Request
float64 x
float64 y
float64 z

and the pick node is:

def pick_sm(x=0.2, y=0.3, z=0.2):
    rclpy.init(args=None)

    node = rclpy.create_node('pick')

    node.declare_parameter('x')
    node.declare_parameter('y')
    node.declare_parameter('z')

    x_par = Parameter('x', Parameter.Type.DOUBLE, x)
    y_par = Parameter('y', Parameter.Type.DOUBLE, y)
    z_par = Parameter('z', Parameter.Type.DOUBLE, z)

When I call the pick_sm node through a non-ROS python script, I get this error:

AssertionError: The 'x' field must be of type 'float'

which prevents me from using these x, y, z fields as ROS parameters

Thank you in advance