zahid990170's profile - activity

Dear all,

My question concerns about specific details needed so that we can see movements that occur inside ROS/MoveIt/Rviz also in the simulated robot inside Roboguide.

Briefly, I use Ubuntu 18.04.2 LTS bionic and ros-melodic. I have ROS/Moveit respositories for fanuc.

On Windows side, I have installed Roboguide. I have followed this link and this link to make necessary configurations inside Roboguide on the virtual controller. When creating the work-cell, I chose fanuc cr7ial robot model.

On Linux side, specifically, I used fanuc_cr7ial_moveit_config repo.

On the TP, I have started the ROS TPE program. The following message appears:

34161     RSTA Waiting for ROS state prox
34161     RREL Waiting for ROS traj relay

then I run the following on a terminal in ROS pc.

roslaunch fanuc_cr7ial_moveit_config moveit_planning_execution.launch robot_ip:=192.168.0.10 use_bswap:=false

I do not see any message appearing on TP and although no fault / error appears on TP, but there is no communication.

If I jog the robotic arm within Roboguide, I do not see the respective arm in RViz being moved. Also, If I plan and execute something on ROS side, I do not see it on Roboguide.

Please, what can be the cause of this problem.

thanks,

Zahid

Edit

Following suggestions posted by @gvdhoorn,

roslaunch --screen fanuc_cr7ial_moveit_config moveit_planning_execution.launch robot_ip:=192.168.0.10 use_bswap:=false sim:=false

the screen output was the following.

process[joint_state-1]: started with pid [12635]
[ INFO] [1657117743.881851298]: Added message handler for message type: 0
process[motion_streaming_interface-2]: started with pid [12636]
[ INFO] [1657117743.883528553]: Robot state connecting to IP address: '192.168.0.10:11002'
/home/zahid/catkin_ws/devel/lib/fanuc_driver/robot_state: symbol lookup error: /home/zahid/catkin_ws/devel/lib/libindustrial_robot_client.so: undefined symbol: _ZN16industrial_utils5param13getJointNamesENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_RSt6vectorIS6_SaIS6_EE
process[joint_trajectory_action-3]: started with pid [12643]
[ INFO] [1657117743.890495378]: Joint Trajectory Interface connecting to IP address: '192.168.0.10:11000'
/home/zahid/catkin_ws/devel/lib/fanuc_driver/motion_streaming_interface: symbol lookup error: /home/zahid/catkin_ws/devel/lib/libindustrial_robot_client.so: undefined symbol: _ZN16industrial_utils5param13getJointNamesENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES6_RSt6vectorIS6_SaIS6_EE
process[robot_state_publisher-4]: started with pid [12648]
[ INFO] [1657117743.902072233]: Adding joint_1 to list parameter
[ INFO] [1657117743.902644332]: Adding joint_2 to list parameter
[ INFO] [1657117743.902685828]: Adding joint_3 to list parameter
[ INFO] [1657117743.902716902]: Adding joint_4 to list parameter
[ INFO] [1657117743.902752660]: Adding joint_5 to list parameter
[ INFO] [1657117743.902768290]: Adding joint_6 to list parameter
[ INFO] [1657117743.902854863]: Found user-specified joint names in 'controller_joint_names': [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
[ INFO] [1657117743.902900481]: Filtered joint names to 6 joints
process[move_group-5]: started with pid [12654]
[joint_state-1] process has died [pid 12635, exit code 127, cmd /home/zahid/catkin_ws/devel/lib/fanuc_driver/robot_state __name:=joint_state __log:=/home/zahid/.ros/log/1f9cd900-fcfc-11ec-b71a-34e12da72407/joint_state-1.log].
log file: /home/zahid/.ros/log/1f9cd900-fcfc-11ec-b71a-34e12da72407/joint_state-1*.log
process[rviz_zahid_Strix_GL504GM_GL504GM_12595_5571255664066723439-6]: started with pid [12661]
[motion_streaming_interface-2] process has died [pid 12636, exit code 127, cmd /home/zahid/catkin_ws/devel/lib/fanuc_driver/motion_streaming_interface __name:=motion_streaming_interface __log:=/home/zahid/.ros/log/1f9cd900-fcfc-11ec-b71a-34e12da72407/motion_streaming_interface-2.log].
log file: /home/zahid/.ros/log/1f9cd900-fcfc-11ec-b71a-34e12da72407/motion_streaming_interface-2*.log
[ INFO] [1657117743.941869753]: Loading robot model 'fanuc_cr7ial ...