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2020-11-06 05:18:36 -0500 edited question Cannot control 2x UR10 at once with ur_robot_driver

Cannot control 2x UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independent

2020-11-06 05:15:33 -0500 commented answer Cannot control 2x UR10 at once with ur_robot_driver

Apologies, I had updated one of the robots and not the other one... Silly me! I've also taken the opportunity to change

2020-11-06 05:14:55 -0500 commented answer Cannot control 2x UR10 at once with ur_robot_driver

Apologies, I had updated one of the robots and not the other one... Silly me! I've also took the opportunity to change t

2020-11-06 05:13:13 -0500 marked best answer Cannot control 2x UR10 at once with ur_robot_driver

I am using the Universal Robot Driver for ROS to control independently two UR10 robots (with their own teach pendant), and it works fine.

However, I have tried to control them both at the same time with a launch file derived from this thread, and the launch aborts when the terminal complains a port is already used.

I traced it back to PORT and RT_PORT being hard-coded in driver.py of fmauch's ur_driver package.

How are we supposed to control several arms at once if some ports cannot be changed?

Here is the launch file:

<?xml version="1.0"?>
<launch>

 <group ns="astro">
   <arg name="prefix" default="astro_" />
   <arg name="limited" default="false"/>
   <arg name="robot_ip" default="192.168.1.77"/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
   <arg name="reverse_port" default="50001"/>
   <arg name="script_sender_port" default="50003"/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller"/>
  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml"/>
   <arg name="headless_mode" default="false"/>

  <include file="$(find ur_bringup)/launch/ur10_bringup.launch">
   <arg name="limited" value="$(arg limited)"/>
   <arg name="robot_ip" value="$(arg robot_ip)"/>
  </include>
</group>

<group ns="nono">
   <arg name="prefix" default="nono_" />
   <arg name="limited" default="false"/>
   <arg name="robot_ip" default="192.168.1.2"/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml"/>
   <arg name="reverse_port" default="50002"/>
   <arg name="script_sender_port" default="50004"/>
   <arg name="controllers" default="joint_state_controller scaled_pos_joint_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
   <arg name="stopped_controllers" default="pos_joint_traj_controller joint_group_vel_controller"/>
  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml"/>
   <arg name="headless_mode" default="false"/>

  <include file="$(find ur_robot_driver)/launch/ur10_bringup.launch">
   <arg name="limited" value="$(arg limited)"/>
   <arg name="robot_ip" value="$(arg robot_ip)"/>
  </include>
</group>

</launch>

Edit: Found by gvdhoorn: $(find ur_robot_driver) instead of $(find ur_bringup). Updated above and the log file below as well.

And here is the log output:

... logging to /home/usr/.ros/log/392cb246-201c-11eb-964a-f8cab82aae2b/roslaunch-demetra-3401.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://demetra:45947/

SUMMARY
========

PARAMETERS
 * /astro/robot_description: <?xml version="1....
 * /astro/tf2_buffer_server/buffer_size: 120.0
 * /astro/ur_driver/max_payload: 20.0
 * /astro/ur_driver/max_velocity: 10.0
 * /astro/ur_driver/min_payload: 0.0
 * /astro/ur_driver/prefix: 
 * /nono/controller_stopper/consistent_controllers: ['joint_state_con...
 * /nono/force_torque_sensor_controller/publish_rate: 125
 * /nono/force_torque_sensor_controller/type: force_torque_sens...
 * /nono/hardware_control_loop/loop_hz: 125
 * /nono/hardware_interface/joints: ['shoulder_pan_jo...
 * /nono/joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /nono/joint_group_vel_controller/type: velocity_controll...
 * /nono/joint_state_controller/publish_rate: 125
 * /nono/joint_state_controller/type: joint_state_contr...
 * /nono/pos_joint_traj_controller/action_monitor_rate: 20
 * /nono/pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /nono/pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /nono/pos_joint_traj_controller/constraints ...
(more)
2020-11-06 05:13:05 -0500 edited question Cannot control 2x UR10 at once with ur_robot_driver

Cannot control 2x UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independent

2020-11-06 04:52:59 -0500 received badge  Popular Question (source)
2020-11-06 04:52:18 -0500 edited question Cannot control 2x UR10 at once with ur_robot_driver

Cannot control 2x UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independent

2020-11-06 04:47:28 -0500 commented answer Cannot control 2x UR10 at once with ur_robot_driver

Thanks for your answer. You were right, but the launch still fails unfortunately. I have updated my post with the new lo

2020-11-06 04:46:28 -0500 edited question Cannot control 2x UR10 at once with ur_robot_driver

Cannot control 2x UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independent

2020-11-05 12:24:24 -0500 edited question Cannot control 2x UR10 at once with ur_robot_driver

Cannot control 2x UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independent

2020-11-05 12:23:08 -0500 asked a question Cannot control 2x UR10 at once with ur_robot_driver

Cannot control 2x UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independent

2020-11-05 12:20:44 -0500 asked a question Cannot control two UR10 at once with ur_robot_driver

Cannot control two UR10 at once with ur_robot_driver I am using the Universal Robot Driver for ROS to control independen

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2020-04-03 18:57:22 -0500 edited question ROS2: Colcon build fails with "/usr/bin/ld: cannot find -lQt5::XXXX"

ROS2: Colcon build fails with "/usr/bin/ld: cannot find -lQt5::XXXX" Greetings, I am trying to compile a microcamera dr

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2020-04-03 13:50:01 -0500 edited question ROS2: Colcon build fails with "/usr/bin/ld: cannot find -lQt5::XXXX"

ROS2: Colcon build fails with "/usr/bin/ld: cannot find -lQt5::XXXX" Greetings, I am trying to compile a microcamera dr

2020-04-03 13:49:09 -0500 asked a question ROS2: Colcon build fails with "/usr/bin/ld: cannot find -lQt5::XXXX"

ROS2: Colcon build fails with "/usr/bin/ld: cannot find -lQt5::XXXX" Greetings, I am trying to compile a microcamera dr

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2020-03-20 06:01:21 -0500 commented question Retrieving joint states from python script on demand without server

You're absolutely right, I don't know why the authors have chosen to do so! It works like a charm. Don't hesitate to ans

2020-03-20 06:01:09 -0500 commented question Retrieving joint states from python script on demand without server

You're absolutely right, I don't know why the authors have chosen to do so! It works like a charm! Don't hesitate to ans

2020-03-20 05:38:36 -0500 commented question Retrieving joint states from python script on demand without server

Thanks for your comment. I had forgotten this line when trying out things, but wait_for_message() is not part of the pro

2020-03-20 05:35:03 -0500 edited question Retrieving joint states from python script on demand without server

Retrieving joint states from python script on demand without server Hi, I'm trying to use the joint_states topic to ext

2020-03-19 15:11:35 -0500 asked a question Retrieving joint states from python script on demand without server

Retrieving joint states from python script on demand without server Hi, I'm trying to use the joint_states topic to ext

2020-03-19 13:20:45 -0500 asked a question Implement MoveL and MoveJ using FollowJointTrajectory interface

Implement MoveL and MoveJ using FollowJointTrajectory interface Hi, I have to implement the Move Linear and Move Joints

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2020-01-27 13:11:25 -0500 edited question Moveit's joystick control tutorial does not work

Moveit's joystick control tutorial does not work Hi, I have followed this tutorial to add control over my end effector'

2020-01-27 12:57:42 -0500 edited question Moveit's joystick control tutorial does not work

Moveit's joystick control tutorial does not work Hi, I have followed this tutorial to add control over my end effector'

2020-01-27 12:57:29 -0500 edited question Moveit's joystick control tutorial does not work

No joy_pose output when launching Moveit's joystick_control.launch Hi, I have followed this tutorial to add control ove

2020-01-27 12:56:56 -0500 edited question Moveit's joystick control tutorial does not work

No joy_pose output when launching Moveit's joystick_control.launch Hi, I have followed this tutorial to add control ove

2020-01-27 12:54:13 -0500 edited question Moveit's joystick control tutorial does not work

No joy_pose output when launching Moveit's joystick_control.launch Hi, I have followed this tutorial to add control ove

2020-01-27 07:29:20 -0500 asked a question Moveit's joystick control tutorial does not work

No joy_pose output when launching Moveit's joystick_control.launch Hi, I have followed this tutorial to add control ove

2020-01-27 07:17:25 -0500 commented answer RViz gets Moveit setup assistant's poses wrong

Eagle eye! That worked like a charm. Thanks a lot for your help, add that comment to an answer, I'll accept it gladly :)

2020-01-27 07:16:43 -0500 marked best answer RViz gets Moveit setup assistant's poses wrong

Hi,

I have created a Moveit config package using the moveit_setup_assistant, containing several poses for my 6dof arm. However, when executing these poses using:

roslaunch simple6dofarm_config demo.launch rviz_tutorial:=true

The poses are wrong, as can be seen on these two comparisons for example: Reference pose in Moveit assistant vs Reference pose in RViz And Hip left pose in Moveit assistant vs Hip left pose in RViz

What's going on ?

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2020-01-27 04:11:00 -0500 commented question RViz gets Moveit setup assistant's poses wrong

Eagle eye! That worked like a charm. Thanks a lot for your help, convert that comment into an answer and I'll accept it