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How to use test_move.py and moveit #361
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Hi,When I was debugging, I found that my "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/config/" package did not contain the controllers.yaml file you mentioned, only the ros_controllers.yaml and fake_controllers.yaml files. How should I change the parameters? Thank you! |
Hi @pibaopi ! I want you to check out this first, as you can see the package below, there is controllers.yaml file. plz check out this one, and give me the feedback :) |
Thank you very much for your reply @suho0515 ! |
https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur3_e_moveit_config/config is currently not supported, when using this driver. See ros-industrial/universal_robot#538 for details. Therefore, the fork from https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot, branch The file got renamed in newer Moveit versions by default, so I followed that. The same methods should be applicable to that, as well. |
Summary
It might be hard to control robot by using python script "test_move.py".
I share simple manual.
Versions
Solution
following Universal_Robots_ROS_Driver/ur_robot_driver/doc/ROS_INTERFACE.md
we should change the topic name from "follow_joint_trajectory" to "scaled_pos_joint_traj_controller/follow_joint_trajectory" of "~/catkin_ws/src/fmauch_universal_robot/ur_driver/test_move.py"
most Importantly, after change your "test_move.py" file. you should follow these steps.
then your robot is gonna move follow the joint value you've set in "test_move.py".
Q1 = [1.7,-1.6,-0.87996,-2.12741,1.47178,-4.60472]
Q2 = [1.6,-1.7,-0.87996,-2.12741,1.47178,-4.60472]
Q3 = [1.5,-1.8,-0.87996,-2.12741,1.47178,-4.60472]
!!! Caution !!!
You should not use the default value in "test_move.py".
you should check the joint value of your robot, and gotta set it safely.
Ref: https://answers.ros.org/question/344391/ur_robot_driver-test_movepy-keeps-on-waiting-for-server/?answer=377525#post-id-377525
using it with moveit!
you should aware that, we control UR by using "scaled_pos_joint_traj_controller/follow_joint_trajectory" node.
so you gotta edit something like below.
in my case, I'm using UR3e, so move to the directory.
so open the "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch" file and change
to
and open the "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/config/controllers.yaml"
and change
to
after that,
then you could see the result below.
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