UR10e can connect the pc,but doesn't move it #200
Comments
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First: 请别再说兄弟了 Also: don't use the |
Hi, I am sorry for my behavior（对不起，我为我的行为感到抱歉） |
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I don't actually speak Chinese. That was Google translate.
you're already using a driver, namely What you shouldn't be using is the Instead, use You'll need to select the correct controller in the drop down on the right though. Also: don't start MoveIt to test the driver. It's not needed. Please first verify that the driver works by moving the robot with the |
OK, I will try it tomorrow. Thank you! |
Dear gavanderhoorn,I can already control the real Hardware UR10e through |
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Dear gavanderhoorn,I want to use the Moveit API to realize the motion plan trajectory through the real Hardware UR10e. How to change the code? Or if you have information, please give me reference. thanks in advance! |
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I think, #55 (comment) could be a place to start. |
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hi have you solved this problem already？I have the same problem， |
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@chentongtong121 @tt2cloud Driver and library changed significantly. Is this issue still relevant? |
stefanscherzinger
added
close if no update
question
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This issue has been closed due to inactivity. Feel free to comment or reopen if this is still relevant. |
Summary
Hi, Dear all, I found a problem,the UR10e can connect the PC,I can see the gesture of ur10e under rviz, but when I use moveit to move it, I find that the real Hardware cannot move, and the error is as follows：
Introduction to the issue
Versions
ROS Driver version:ubuntu16.04+kinetic
Affected Robot Software Version(s): 5.6.0
Affected Robot Hardware Version(s): UR10e
URCaps Software version(s):external control 1.0.1
terminal 1:roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=192.168.1.10
SUMMARY
PARAMETERS
/controller_stopper/consistent_controllers: ['joint_state_con...
/force_torque_sensor_controller/publish_rate: 500
/force_torque_sensor_controller/type: force_torque_sens...
/hardware_control_loop/loop_hz: 500
/hardware_interface/joints: ['shoulder_pan_jo...
/joint_group_vel_controller/joints: ['shoulder_pan_jo...
/joint_group_vel_controller/type: velocity_controll...
/joint_state_controller/publish_rate: 500
/joint_state_controller/type: joint_state_contr...
/pos_traj_controller/action_monitor_rate: 10
/pos_traj_controller/constraints/elbow_joint/goal: 0.1
/pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
/pos_traj_controller/constraints/goal_time: 0.6
/pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
/pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
/pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
/pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
/pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
/pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
/pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
/pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
/pos_traj_controller/joints: ['shoulder_pan_jo...
/pos_traj_controller/state_publish_rate: 500
/pos_traj_controller/stop_trajectory_duration: 0.5
/pos_traj_controller/type: position_controll...
/robot_description: <?xml version="1....
/robot_status_controller/handle_name: industrial_robot_...
/robot_status_controller/publish_rate: 10
/robot_status_controller/type: industrial_robot_...
/rosdistro: kinetic
/rosversion: 1.12.14
/scaled_pos_traj_controller/action_monitor_rate: 10
/scaled_pos_traj_controller/constraints/elbow_joint/goal: 0.1
/scaled_pos_traj_controller/constraints/elbow_joint/trajectory: 0.2
/scaled_pos_traj_controller/constraints/goal_time: 0.6
/scaled_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/scaled_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
/scaled_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/scaled_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
/scaled_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/scaled_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
/scaled_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
/scaled_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
/scaled_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
/scaled_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
/scaled_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
/scaled_pos_traj_controller/joints: ['shoulder_pan_jo...
/scaled_pos_traj_controller/state_publish_rate: 500
/scaled_pos_traj_controller/stop_trajectory_duration: 0.5
/scaled_pos_traj_controller/type: position_controll...
/scaled_vel_traj_controller/action_monitor_rate: 10
/scaled_vel_traj_controller/constraints/elbow_joint/goal: 0.1
/scaled_vel_traj_controller/constraints/elbow_joint/trajectory: 0.1
/scaled_vel_traj_controller/constraints/goal_time: 0.6
/scaled_vel_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/scaled_vel_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/scaled_vel_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/scaled_vel_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/scaled_vel_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/scaled_vel_traj_controller/constraints/wrist_1_joint/goal: 0.1
/scaled_vel_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
/scaled_vel_traj_controller/constraints/wrist_2_joint/goal: 0.1
/scaled_vel_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
/scaled_vel_traj_controller/constraints/wrist_3_joint/goal: 0.1
/scaled_vel_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
/scaled_vel_traj_controller/gains/elbow_joint/d: 0.1
/scaled_vel_traj_controller/gains/elbow_joint/i: 0.05
/scaled_vel_traj_controller/gains/elbow_joint/i_clamp: 1
/scaled_vel_traj_controller/gains/elbow_joint/p: 5.0
/scaled_vel_traj_controller/gains/shoulder_lift_joint/d: 0.1
/scaled_vel_traj_controller/gains/shoulder_lift_joint/i: 0.05
/scaled_vel_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
/scaled_vel_traj_controller/gains/shoulder_lift_joint/p: 5.0
/scaled_vel_traj_controller/gains/shoulder_pan_joint/d: 0.1
/scaled_vel_traj_controller/gains/shoulder_pan_joint/i: 0.05
/scaled_vel_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
/scaled_vel_traj_controller/gains/shoulder_pan_joint/p: 5.0
/scaled_vel_traj_controller/gains/wrist_1_joint/d: 0.1
/scaled_vel_traj_controller/gains/wrist_1_joint/i: 0.05
/scaled_vel_traj_controller/gains/wrist_1_joint/i_clamp: 1
/scaled_vel_traj_controller/gains/wrist_1_joint/p: 5.0
/scaled_vel_traj_controller/gains/wrist_2_joint/d: 0.1
/scaled_vel_traj_controller/gains/wrist_2_joint/i: 0.05
/scaled_vel_traj_controller/gains/wrist_2_joint/i_clamp: 1
/scaled_vel_traj_controller/gains/wrist_2_joint/p: 5.0
/scaled_vel_traj_controller/gains/wrist_3_joint/d: 0.1
/scaled_vel_traj_controller/gains/wrist_3_joint/i: 0.05
/scaled_vel_traj_controller/gains/wrist_3_joint/i_clamp: 1
/scaled_vel_traj_controller/gains/wrist_3_joint/p: 5.0
/scaled_vel_traj_controller/joints: ['shoulder_pan_jo...
/scaled_vel_traj_controller/state_publish_rate: 500
/scaled_vel_traj_controller/stop_trajectory_duration: 0.5
/scaled_vel_traj_controller/type: velocity_controll...
/scaled_vel_traj_controller/velocity_ff/elbow_joint: 1.0
/scaled_vel_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
/scaled_vel_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
/scaled_vel_traj_controller/velocity_ff/wrist_1_joint: 1.0
/scaled_vel_traj_controller/velocity_ff/wrist_2_joint: 1.0
/scaled_vel_traj_controller/velocity_ff/wrist_3_joint: 1.0
/speed_scaling_state_controller/publish_rate: 500
/speed_scaling_state_controller/type: ur_controllers/Sp...
/ur_hardware_interface/headless_mode: False
/ur_hardware_interface/input_recipe_file: /home/yun/catkin_...
/ur_hardware_interface/kinematics/forearm/pitch: 0
/ur_hardware_interface/kinematics/forearm/roll: 0
/ur_hardware_interface/kinematics/forearm/x: -0.6127
/ur_hardware_interface/kinematics/forearm/y: 0
/ur_hardware_interface/kinematics/forearm/yaw: 0
/ur_hardware_interface/kinematics/forearm/z: 0
/ur_hardware_interface/kinematics/hash: calib_51197013707...
/ur_hardware_interface/kinematics/shoulder/pitch: 0
/ur_hardware_interface/kinematics/shoulder/roll: 0
/ur_hardware_interface/kinematics/shoulder/x: 0
/ur_hardware_interface/kinematics/shoulder/y: 0
/ur_hardware_interface/kinematics/shoulder/yaw: 0
/ur_hardware_interface/kinematics/shoulder/z: 0.1807
/ur_hardware_interface/kinematics/upper_arm/pitch: 0
/ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327
/ur_hardware_interface/kinematics/upper_arm/x: 0
/ur_hardware_interface/kinematics/upper_arm/y: 0
/ur_hardware_interface/kinematics/upper_arm/yaw: 0
/ur_hardware_interface/kinematics/upper_arm/z: 0
/ur_hardware_interface/kinematics/wrist_1/pitch: 0
/ur_hardware_interface/kinematics/wrist_1/roll: 0
/ur_hardware_interface/kinematics/wrist_1/x: -0.57155
/ur_hardware_interface/kinematics/wrist_1/y: 0
/ur_hardware_interface/kinematics/wrist_1/yaw: 0
/ur_hardware_interface/kinematics/wrist_1/z: 0.17415
/ur_hardware_interface/kinematics/wrist_2/pitch: 0
/ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327
/ur_hardware_interface/kinematics/wrist_2/x: 0
/ur_hardware_interface/kinematics/wrist_2/y: -0.11985
/ur_hardware_interface/kinematics/wrist_2/yaw: 0
/ur_hardware_interface/kinematics/wrist_2/z: -2.45816459076e-11
/ur_hardware_interface/kinematics/wrist_3/pitch: 3.14159265359
/ur_hardware_interface/kinematics/wrist_3/roll: 1.57079632659
/ur_hardware_interface/kinematics/wrist_3/x: 0
/ur_hardware_interface/kinematics/wrist_3/y: 0.11655
/ur_hardware_interface/kinematics/wrist_3/yaw: 3.14159265359
/ur_hardware_interface/kinematics/wrist_3/z: -2.39048045935e-11
/ur_hardware_interface/output_recipe_file: /home/yun/catkin_...
/ur_hardware_interface/reverse_port: 50001
/ur_hardware_interface/robot_ip: 192.168.1.10
/ur_hardware_interface/script_file: /home/yun/catkin_...
/ur_hardware_interface/script_sender_port: 50002
/ur_hardware_interface/tf_prefix:
/ur_hardware_interface/tool_baud_rate: 115200
/ur_hardware_interface/tool_parity: 0
/ur_hardware_interface/tool_rx_idle_chars: 1.5
/ur_hardware_interface/tool_stop_bits: 1
/ur_hardware_interface/tool_tx_idle_chars: 3.5
/ur_hardware_interface/tool_voltage: 0
/ur_hardware_interface/use_tool_communication: False
/vel_traj_controller/action_monitor_rate: 10
/vel_traj_controller/constraints/elbow_joint/goal: 0.1
/vel_traj_controller/constraints/elbow_joint/trajectory: 0.1
/vel_traj_controller/constraints/goal_time: 0.6
/vel_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
/vel_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/vel_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
/vel_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/vel_traj_controller/constraints/stopped_velocity_tolerance: 0.05
/vel_traj_controller/constraints/wrist_1_joint/goal: 0.1
/vel_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
/vel_traj_controller/constraints/wrist_2_joint/goal: 0.1
/vel_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
/vel_traj_controller/constraints/wrist_3_joint/goal: 0.1
/vel_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
/vel_traj_controller/gains/elbow_joint/d: 0.1
/vel_traj_controller/gains/elbow_joint/i: 0.05
/vel_traj_controller/gains/elbow_joint/i_clamp: 1
/vel_traj_controller/gains/elbow_joint/p: 5.0
/vel_traj_controller/gains/shoulder_lift_joint/d: 0.1
/vel_traj_controller/gains/shoulder_lift_joint/i: 0.05
/vel_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
/vel_traj_controller/gains/shoulder_lift_joint/p: 5.0
/vel_traj_controller/gains/shoulder_pan_joint/d: 0.1
/vel_traj_controller/gains/shoulder_pan_joint/i: 0.05
/vel_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
/vel_traj_controller/gains/shoulder_pan_joint/p: 5.0
/vel_traj_controller/gains/wrist_1_joint/d: 0.1
/vel_traj_controller/gains/wrist_1_joint/i: 0.05
/vel_traj_controller/gains/wrist_1_joint/i_clamp: 1
/vel_traj_controller/gains/wrist_1_joint/p: 5.0
/vel_traj_controller/gains/wrist_2_joint/d: 0.1
/vel_traj_controller/gains/wrist_2_joint/i: 0.05
/vel_traj_controller/gains/wrist_2_joint/i_clamp: 1
/vel_traj_controller/gains/wrist_2_joint/p: 5.0
/vel_traj_controller/gains/wrist_3_joint/d: 0.1
/vel_traj_controller/gains/wrist_3_joint/i: 0.05
/vel_traj_controller/gains/wrist_3_joint/i_clamp: 1
/vel_traj_controller/gains/wrist_3_joint/p: 5.0
/vel_traj_controller/joints: ['shoulder_pan_jo...
/vel_traj_controller/state_publish_rate: 500
/vel_traj_controller/stop_trajectory_duration: 0.5
/vel_traj_controller/type: velocity_controll...
/vel_traj_controller/velocity_ff/elbow_joint: 1.0
/vel_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
/vel_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
/vel_traj_controller/velocity_ff/wrist_1_joint: 1.0
/vel_traj_controller/velocity_ff/wrist_2_joint: 1.0
/vel_traj_controller/velocity_ff/wrist_3_joint: 1.0
NODES
/
controller_stopper (controller_stopper/node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ros_control_controller_spawner (controller_manager/spawner)
ros_control_stopped_spawner (controller_manager/spawner)
ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
/ur_hardware_interface/
ur_robot_state_helper (ur_robot_driver/robot_state_helper)
auto-starting new master
process[master]: started with pid [21219]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 01bf07ae-aead-11ea-8acd-c8d9d21823f2
process[rosout-1]: started with pid [21235]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [21252]
process[ur_hardware_interface-3]: started with pid [21253]
process[ros_control_controller_spawner-4]: started with pid [21254]
[ INFO] [1592186868.213219306]: Main thread: SCHED_FIFO OK
[ INFO] [1592186868.213276896]: Main thread priority is 99
process[ros_control_stopped_spawner-5]: started with pid [21256]
[ INFO] [1592186868.225138723]: Initializing dashboard client
process[controller_stopper-6]: started with pid [21289]
[ INFO] [1592186868.227471563]: Connected: Universal Robots Dashboard Server
process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [21317]
[ INFO] [1592186868.246475605]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1592186868.247192942]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1592186868.248888770]: Initializing urdriver
[ INFO] [1592186868.249298563]: Checking if calibration data matches connected robot.
[ INFO] [1592186868.249780433]: Producer thread: SCHED_FIFO OK
[ INFO] [1592186868.249807314]: Thread priority is 99
[INFO] [1592186868.600482]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1592186868.605806]: Controller Spawner: Waiting for service controller_manager/load_controller
[ERROR] [1592186868.840918134]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [TODO Link to documentation] for details.
[ INFO] [1592186869.342793032]: Producer thread: SCHED_FIFO OK
[ INFO] [1592186869.342824734]: Thread priority is 99
[ INFO] [1592186869.345146063]: Setting up RTDE communication with frequency 500.000000
[ INFO] [1592186870.405027445]: Producer thread: SCHED_FIFO OK
[ INFO] [1592186870.405110175]: Thread priority is 99
[ INFO] [1592186870.405315922]: Loaded ur_robot_driver hardware_interface
[ INFO] [1592186870.478134709]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1592186870.478158576]: Service available.
[ INFO] [1592186870.478172795]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1592186870.478815827]: Service available.
[ INFO] [1592186870.653392582]: Robot's safety mode is now NORMAL
[ INFO] [1592186870.654137721]: Robot mode is now RUNNING
[INFO] [1592186870.725126]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1592186870.726771]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1592186870.728484]: Loading controller: pos_traj_controller
[INFO] [1592186870.772901]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1592186870.774659]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1592186870.777078]: Loading controller: joint_state_controller
[INFO] [1592186870.791141]: Loading controller: joint_group_vel_controller
[INFO] [1592186870.797145]: Loading controller: scaled_pos_traj_controller
[INFO] [1592186870.807086]: Controller Spawner: Loaded controllers: pos_traj_controller, joint_group_vel_controller
[INFO] [1592186870.865058]: Loading controller: speed_scaling_state_controller
[INFO] [1592186870.870794]: Loading controller: force_torque_sensor_controller
[INFO] [1592186870.876848]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1592186870.881050]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
terminal 2:roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true
SUMMARY
PARAMETERS
/move_group/allow_trajectory_execution: True
/move_group/capabilities: move_group/MoveGr...
/move_group/controller_list: [{'action_ns': 'f...
/move_group/endeffector/planner_configs: ['SBLkConfigDefau...
/move_group/jiggle_fraction: 0.05
/move_group/manipulator/default_planner_config: RRTConnectkConfig...
/move_group/manipulator/longest_valid_segment_fraction: 0.01
/move_group/manipulator/planner_configs: ['SBLkConfigDefau...
/move_group/max_range: 5.0
/move_group/max_safe_path_cost: 1
/move_group/moveit_controller_manager: moveit_simple_con...
/move_group/moveit_manage_controllers: True
/move_group/octomap_resolution: 0.025
/move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
/move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
/move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
/move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
/move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
/move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/ESTkConfigDefault/range: 0.0
/move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
/move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
/move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
/move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
/move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
/move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
/move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
/move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
/move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
/move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
/move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
/move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
/move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
/move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
/move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
/move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/RRTkConfigDefault/range: 0.0
/move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
/move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
/move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
/move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
/move_group/planner_configs/SBLkConfigDefault/range: 0.0
/move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
/move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
/move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
/move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
/move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
/move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
/move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
/move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
/move_group/planner_configs/TRRTkConfigDefault/range: 0.0
/move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
/move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
/move_group/planning_plugin: ompl_interface/OM...
/move_group/planning_scene_monitor/publish_geometry_updates: True
/move_group/planning_scene_monitor/publish_planning_scene: True
/move_group/planning_scene_monitor/publish_state_updates: True
/move_group/planning_scene_monitor/publish_transforms_updates: True
/move_group/request_adapters: default_planner_r...
/move_group/start_state_max_bounds_error: 0.1
/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
/move_group/trajectory_execution/execution_duration_monitoring: False
/move_group/use_controller_manager: False
/robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
/robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
/robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
/robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
/robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.14
/robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.14
/robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 3.14
/robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.14
/robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 3.14
/robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.14
/robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.14
/robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 6.28
/robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.14
/robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 6.28
/robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
/robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
/robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.14
/robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 6.28
/robot_description_semantic: <?xml version="1....
/rosdistro: kinetic
/rosversion: 1.12.14
NODES
/
move_group (moveit_ros_move_group/move_group)
ROS_MASTER_URI=http://localhost:11311
run_id on parameter server does not match declared run_id: 1a10caa2-aeaa-11ea-8acd-c8d9d21823f2 vs 1ab92c2e-aeaa-11ea-8acd-c8d9d21823f2
The traceback for the exception was written to the log file
terminal 3:roslaunch ur10_e_moveit_config moveit_rviz.launch config:=true
SUMMARY
PARAMETERS
/rosdistro: kinetic
/rosversion: 1.12.14
/rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver: kdl_kinematics_pl...
/rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver_attempts: 3
/rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver_search_resolution: 0.005
/rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362/manipulator/kinematics_solver_timeout: 0.005
NODES
/
rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362 (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362-1]: started with pid [21442]
[ INFO] [1592186868.939600634]: rviz version 1.12.17
[ INFO] [1592186868.939654642]: compiled against Qt version 5.5.1
[ INFO] [1592186868.939670289]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1592186869.239777248]: Stereo is NOT SUPPORTED
[ INFO] [1592186869.239831027]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1592186872.619957201]: Loading robot model 'ur10e'...
[ WARN] [1592186872.619998862]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1592186872.620015029]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1592186872.665450514]: Loading robot model 'ur10e'...
[ WARN] [1592186872.665520289]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1592186872.665543086]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1592186872.745662289]: Starting scene monitor
[ INFO] [1592186872.750498514]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1592186872.751575959]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1592186877.771017975]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.18/planning_scene_monitor/src/planning_scene_monitor.cpp:491
[ INFO] [1592186878.387070246]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ WARN] [1592186888.170743535]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch
[ INFO] [1592186888.174848967]: Ready to take commands for planning group manipulator.
[ INFO] [1592186888.174936096]: Looking around: no
[ INFO] [1592186888.174970400]: Replanning: no
[ WARN] [1592186888.219657827]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ INFO] [1592186896.486794619]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186897.554862345]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186897.723628495]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186897.888216744]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186898.400788714]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186898.677292720]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186899.191149315]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186899.903129697]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186901.386982485]: Replanning: yes
[ INFO] [1592186902.782810630]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186903.865067708]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186905.108830083]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186907.609091666]: Looking around: yes
[ INFO] [1592186914.485051143]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186915.356293093]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186915.577693663]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186917.639029757]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186929.123774766]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186930.265397395]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186931.238410735]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186939.893111610]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186941.204564882]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186968.658662198]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186969.758597597]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186970.864241100]: ABORTED: Solution found but controller failed during execution
[ INFO] [1592186972.708550601]: ABORTED: Solution found but controller failed during execution
terminal 4:rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
I tested the script file today
rosrun ur_driver test_move.py,but I found the real Hardware can't move.Could you help me solved the pronlems, Thank you advance!!@gavanderhoorn @fmauch
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