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2023-05-05 15:30:05 -0500 marked best answer Error with real UR5: Can't accept new action goals. Controller is not running.

I get the following error when I try to send the UR5 a goal: Can't accept new action goals. Controller is not running.

Here are the commands I am running:

$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=169.254.198.35 kinematics_config:="${HOME}/my_robot_calibration.yaml"
$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true

The console is however printing that the controllers have been loaded:

[INFO] [1574671438.720679]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1574671438.728787]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

RViz is still able to plan the goal. Does anyone know what the issue is? Let me know if more information is needed.
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2020-09-17 02:10:41 -0500 marked best answer unable to build ur_robot_driver

A previous commit of the ur_driver was working fine for me, but after pulling the latest changes I am now unable to catkin_make my workspace. Can anyone advise how to proceed? The last commit i tested is quite old ( a926789adc0cefc616beb0fda15793cdcd65831b )

 shu@shu-laptop:~$ cd catkin_ws/
shu@shu-laptop:~/catkin_ws$ catkin_make
Base path: /home/shu/catkin_ws
Source space: /home/shu/catkin_ws/src
Build space: /home/shu/catkin_ws/build
Devel space: /home/shu/catkin_ws/devel
Install space: /home/shu/catkin_ws/install
WARNING: Package name "Socket" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
####
#### Running command: "make cmake_check_build_system" in "/home/shu/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/shu/catkin_ws/build"
####
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_RobotMode
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeActionGoal
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_GetRobotMode
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_GetProgramState
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeActionResult
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_ProgramState
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_RawRequest
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeResult
[  0%] Built target actionlib_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_Load
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeAction
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SafetyMode
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_GetSafetyMode
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_Popup
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_IsProgramRunning
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_GetLoadedProgram
[  0%] Built target actionlib_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_AddToLog
[  0%] Built target actionlib_msgs_generate_messages_py
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeActionFeedback
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target actionlib_msgs_generate_messages_cpp
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeGoal
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_IsProgramSaved
[  0%] Built target _ur_dashboard_msgs_generate_messages_check_deps_SetModeFeedback
[  0%] Built target actionlib_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target _ur_msgs_generate_messages_check_deps_Digital
[  0%] Built target _ur_msgs_generate_messages_check_deps_MasterboardDataMsg
[  0%] Built target _ur_msgs_generate_messages_check_deps_ToolDataMsg
[  0%] Built target _ur_msgs_generate_messages_check_deps_IOStates
[  0%] Built target _ur_msgs_generate_messages_check_deps_SetIO
[  0%] Built target _ur_msgs_generate_messages_check_deps_SetSpeedSliderFraction
[  0%] Built target _ur_msgs_generate_messages_check_deps_RobotStateRTMsg
[  0%] Built target _ur_msgs_generate_messages_check_deps_RobotModeDataMsg
[  0%] Built target controller_manager_msgs_generate_messages_cpp
[  0%] Built target roscpp_generate_messages_lisp
[  0%] Built target Socket_node
[  0%] Built target roscpp_generate_messages_nodejs
[  0%] Built target roscpp_generate_messages_eus
[  0%] Built target roscpp_generate_messages_cpp
[  0%] Built target rosgraph_msgs_generate_messages_nodejs
[  0%] Built target rosgraph_msgs_generate_messages_eus
[  0%] Built target _ur_msgs_generate_messages_check_deps_SetPayload
[  0%] Built target roscpp_generate_messages_py
[  0%] Built target rosgraph_msgs_generate_messages_cpp
[  0%] Built target _ur_msgs_generate_messages_check_deps_Analog
[  0%] Built target rosgraph_msgs_generate_messages_lisp
[  0%] Built target rosgraph_msgs_generate_messages_py
[  0%] Built target controller_manager_msgs_generate_messages_eus
[  0%] Built target controller_manager_msgs_generate_messages_py
[  0%] Built target controller_manager_msgs_generate_messages_nodejs
[  0%] Built target controller_manager_msgs_generate_messages_lisp
[  0%] Built target ur_driver_gencfg
[  0%] Built target contour_vision_node
[  0%] Built target _catkin_empty_exported_target
[  0%] Built target geometry_msgs_generate_messages_nodejs
[  0%] Built target gazebo_disable_link_plugin
[  0%] Built target _exercise_2_2_generate_messages_check_deps_Age
[  1%] Built target ur_hardware_interface
[  2%] Built target gazebo_mimic_joint_plugin
[  2%] Built target geometry_msgs_generate_messages_eus
[  2%] Built target actionlib_generate_messages_cpp
[  2%] Built target sensor_msgs_generate_messages_cpp
[  2%] Built target tf_generate_messages_nodejs
[  2%] Built target tf_generate_messages_eus
[  2%] Built target geometry_msgs_generate_messages_lisp
[  2%] Built target actionlib_generate_messages_nodejs
[  2%] Built target tf_generate_messages_py
[  2%] Built target tf2_msgs_generate_messages_nodejs
[  2%] Built target geometry_msgs_generate_messages_py
[  2%] Built target tf_generate_messages_lisp
[  2%] Built target sensor_msgs_generate_messages_eus
[  2%] Built target actionlib_generate_messages_lisp
[  2%] Built target actionlib_generate_messages_eus
[  2%] Built target tf_generate_messages_cpp
[  2%] Built target tf2_msgs_generate_messages_cpp
[  2%] Built target geometry_msgs_generate_messages_cpp
[  2%] Built target sensor_msgs_generate_messages_lisp
[  2%] Built target tf2_msgs_generate_messages_lisp
[  2%] Built target sensor_msgs_generate_messages_nodejs
[  2%] Built target sensor_msgs_generate_messages_py
[  2%] Built target actionlib_generate_messages_py
[  2%] Built target tf2_msgs_generate_messages_py
[  2%] Built target control_msgs_generate_messages_py
[  2%] Built target tf2_msgs_generate_messages_eus
[  2%] Built target control_msgs_generate_messages_eus
[  2%] Built target control_msgs_generate_messages_nodejs
[  2%] Built target control_msgs_generate_messages_cpp
[  2%] Built target std_srvs_generate_messages_cpp
[  2%] Built target trajectory_msgs_generate_messages_nodejs ...
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2020-09-16 02:31:51 -0500 asked a question unable to build ur_robot_driver

unable to build ur_robot_driver A previous commit of the ur_driver was working fine for me, but after pulling the latest
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2020-07-07 03:35:43 -0500 commented question joint_limits.yaml file and saftey configuration on ur5 control panel

The issue has been opened over here https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/220

2020-07-07 03:25:54 -0500 edited question joint_limits.yaml file and saftey configuration on ur5 control panel

joint_limits.yaml file and saftey configuration on ur5 control panel am I am using ROS Kinetic, moveit, and the current

2020-07-07 02:24:24 -0500 asked a question joint_limits.yaml file and saftey configuration on ur5 control panel

joint_limits.yaml file and saftey configuration on ur5 control panel am I am using ROS Kinetic, moveit, and the current

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2020-03-02 02:19:29 -0500 commented answer instantiate two instances of moveit_commander

Thanks, I never tried making more than one moveit_commander instance, though I'm a little confused as to how to do so. I
2020-02-28 09:50:19 -0500 edited question How to determine the payload a UR5 may be carrying

How to determine the payload a UR5 may be carrying Hello, I am using a real UR5 and am attempting to pick up an object

2020-02-28 09:49:00 -0500 asked a question How to determine the payload a UR5 may be carrying

How to determine the payload a UR5 may be carrying Hello, I am using a real UR5 and am attempting to pick up an object

2020-02-28 09:44:45 -0500 commented question real ur5 end effector orientation does not match waypoint orientation given

I haven't unfortunately, but I've had success executing Cartesian Paths. I read the values for the Position and Orientat
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2020-02-11 03:11:23 -0500 marked best answer specifying ur5 robot_description in moveit_commander.RobotCommander() initialization

I'm trying to specify the robot_description parameter in initializing the moveit_commander for my robot. As in the documentation the moveit_commander takes a robot_description, which I expect is a URDF file. Below is how I am attempting to do so:

desc = '/home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf'
klaus_commander = moveit_commander.RobotCommander(robot_description = desc, ns = "klaus")
frank_commander = moveit_commander.RobotCommander(robot_description = desc, ns = "frank")
scene = moveit_commander.PlanningSceneInterface()


group_name = "manipulator" #manipulator in gazebo
klaus_group = moveit_commander.MoveGroupCommander(group_name, desc, "klaus")
frank_group = moveit_commander.MoveGroupCommander(group_name, desc, "frank")

However I am getting an error reading [ERROR] [1575984235.264155297]: Robot model parameter not found! Did you remap '/home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf'?. I am guessing that I am not specifying the urdf correctly - how can I do so for my moveit_commander? Full error output below, please let me know if anything else is needed.

team-sewts@sewts-Legion:~/catkin_ws/src/moveit_scripts$ python x2_coordinate_tester.py
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ERROR] [1575984235.264155297]: Robot model parameter not found! Did you remap '/home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf'?
Traceback (most recent call last):
  File "x2_coordinate_tester.py", line 290, in <module>
    main()
  File "x2_coordinate_tester.py", line 266, in main
    tutorial = MoveGroupPythonIntefaceTutorial()
  File "x2_coordinate_tester.py", line 30, in __init__
    klaus_commander = moveit_commander.RobotCommander(robot_description = desc, ns = "klaus")
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/robot.py", line 151, in __init__
    self._r = _moveit_robot_interface.RobotInterface(robot_description, ns)
RuntimeError: RobotInterfacePython: invalid robot model 


team-sewts@sewts-Legion:~/catkin_ws/src/moveit_scripts$ python coordinate_tester.py
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ERROR] [1576058021.474502119]: Robot model parameter not found! Did you remap '<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/team-sewts/catkin_ws/src/fmauch_universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:xacro="http://wiki.ros.org/xacro">
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="ros_control">
      <!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
    </plugin>
    <!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
-->
  </gazebo>
  <!-- measured from model -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0 ...
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2020-01-08 11:15:56 -0500 asked a question instantiate two instances of moveit_commander

instantiate two instances of moveit_commander I am attempting to control two UR5 robots simultaneously but am running in
2020-01-08 09:44:59 -0500 marked best answer One UR5 executing all commands in a 2 UR5 system

I am trying to use moveit to control two UR5 robots in a script. However, one robot is executing all commands sent to both robots. Could anyone point out where my issue is? Please let me know if more information is needed.

Here is my moveit controller.yaml file:

controller_list:
  - name: "/frank/scaled_pos_traj_controller"
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint
  - name: "/klaus/scaled_pos_traj_controller"
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

And my launch file for launching moveit planning for both robots:

<launch>
 <group ns="frank">
   <arg name="sim" default="true" />
   <arg name="limited" default="false"/>
   <arg name="debug" default="false" />
  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
   <arg name="sim" value="$(arg sim)"/>
   <arg name="limited" value="$(arg limited)"/>
   <arg name="debug" value="$(arg debug)"/>
  </include>
 </group>

 <group ns="klaus">
   <arg name="sim" default="true" />
   <arg name="limited" default="false"/>
   <arg name="debug" default="false" />
  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
   <arg name="sim" value="$(arg sim)"/>
   <arg name="limited" value="$(arg limited)"/>
   <arg name="debug" value="$(arg debug)"/>
  </include>
 </group>

</launch>

Below is the console when I run the above launch file then try and klaus a goal (frank tries to take it)

team-sewts@sewts-Legion:~/catkin_ws$ roslaunch ur5_moveit_config x2_ur5_moveit_planning_execution.launch
... logging to /home/team-sewts/.ros/log/679066c4-1cc0-11ea-9d94-98eecb87900f/roslaunch-sewts-Legion-13006.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sewts-Legion:35779/

SUMMARY
========

PARAMETERS
 * /frank/move_group/allow_trajectory_execution: True
 * /frank/move_group/capabilities: move_group/MoveGr...
 * /frank/move_group/controller_list: [{'action_ns': 'f...
 * /frank/move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /frank/move_group/jiggle_fraction: 0.05
 * /frank/move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /frank/move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /frank/move_group/max_range: 5.0
 * /frank/move_group/max_safe_path_cost: 1
 * /frank/move_group/moveit_controller_manager: moveit_simple_con...
 * /frank/move_group/moveit_manage_controllers: True
 * /frank/move_group/octomap_resolution: 0.025
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /frank/move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /frank/move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /frank/move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /frank/move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /frank/move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /frank/move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /frank/move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /frank/move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /frank/move_group/planner_configs/RRTkConfigDefault/range ...
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2020-01-08 09:41:23 -0500 commented question using two arms with moveit, unable to get joints for both

did you ever find a workaround for this?

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2020-01-08 09:25:23 -0500 edited answer One UR5 executing all commands in a 2 UR5 system

As described here Along with this merge, the namespacing in the script I wrote was incorrect and the controllers.yaml f
2020-01-08 09:22:55 -0500 answered a question One UR5 executing all commands in a 2 UR5 system

As described here Along with this merge, the namespacing in the script I wrote was incorrect and the controllers.yaml f
2020-01-07 02:48:15 -0500 commented question One UR5 executing all commands in a 2 UR5 system

I've pulled the changes and rebuilt the workspace but am still facing the same issue. Edit: I'm having trouble editing

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2019-12-19 11:23:52 -0500 commented answer Calling a publisher inside a subscriber

Could you tell me what you mean by subscription statement?

2019-12-19 10:26:09 -0500 edited question Calling a publisher inside a subscriber

Calling a publisher inside a subscriber I've been trying to follow this answer for writing a publisher inside a subscrib
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