Not able to control the UR10e, issue with controllers #55
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The output looks like your installation is missing a couple of controllers. As the output states, could you please post the output of Just to clarify: During setup you executed the command is this correct? I'm asking, because for instance the |
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I have the same problem. I confirmed that I have all the required dependencies. The README says: To control the robot using ROS, use the action server on Any thoughts on how to fix the issue? |
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I fixed it using the Troubleshooting section in the ReadMe:
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Yes, this is definitely necessary, which is why I put that part into the README. However, I think @tanyouliang95 is still missing the force_torque_sensor_controller. Remapping the controller namespace with the default UR MoveIt! configs seems to be necessary. Personally, I think that the controller namespace should be a launchfile parameter, but we could add MoveIt! setup to the troubleshooting section. |
fmauch
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Hi, yeap!!! Changing the Also, different to ur_modern_driver, instead of operating in remote mode, I will just need to run the URcap in local mode, and start it by clicking the play button below. Hope this issue will others in terms of migrating from |
This issue took me all day to sort out. the README is not clear. I know it says:
but that meant nothing to me until I found @iretiayo 's comment (#55 (comment)) above where he explicitly linked to where to set the action server. Why isn't that the default action server in the controllers.yaml file? Isn't that UR-specific repo? What's the purpose of the existing default one? Can an explanation please be added to the documentation? For anyone else who is searching for this problem, it happened for me on a UR10 |
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I sympathise with the reporters here (and I'm not advocating for not adding more documentation or ignoring this), but in general I would say this is not something specific to this driver. Configuring MoveIt packages for use with specific drivers (ie: action servers) is something that always needs to be done with care. It cannot be automated nor generalised. To be specific:
because that action topic is specific to If those packages would be updated to assume use with
If with "default one" you are referring to the MoveIt configurations: to provide you with a simple testing ground. For any serious use, you are expected to create customised MoveIt configurations, taking your specific robot setup (ie: EEFs and other devices) and workcell into account. A MoveIt configuration with a robot in empty space is almost unusable.
As I wrote above: this is not specific to any one robot, nor any specific driver. Having written all of this: I assume additional explanation of this part of the configuration will be added. @fmauch: we may also consider remapping the |
ok, I get that, but this is the Quick Start section on a specific driver's README. I think its safe to assume newbies without familiarity with ROS or UR robots are going be follow that guide in the hopes of getting stuff setup.
by "default one" I meant specifically this line, which needs to be updated to work with the the Re the expectation that people write their own MoveIt configurations - that makes sense, but does that mean they would need to write their own action controllers as well? One last comment on the documentation, which is a bit off this specific issue, but is relevant - The Quickstart is great, but a pointer on where to go next would be useful. Perhaps that's just a pointer to the MoveIt documentation or something, but now that I have ROS control of the arm, it's not clear how I start actually doing something with it.... Thanks for hearing me out! |
@gavanderhoorn I agree that the situation is non-optimal. However, I do not completely understand your suggestion (specifically the "to a regular one" part). From my point of view, it seems a bit odd (probably there are legacy reasons from before-ROS-Control times) that the default MoveIt! configuration expects a controller action topic running at To get a <remap from="/scaled_pos_traj_controller/follow_joint_trajectory" to="/follow_joint_trajectory" />e.g. to ur_control.launch also feels a bit odd to me (@gavanderhoorn is that what you meant?). I usually would expect to have a launch file parameter in the moveit configuration launchfile where I specify the controller / action server that should be used. I'm not voting against any change here, I just don't really see "The right way" to go with this. Which is why all of your input is very valuable to me. Note: Please consider that I have absolutely no knowledge about MoveIt!, so if I'm saying wrong things about MoveIt!, please correct me.
We already have a Link to MoveIt! at the end of the quick start section. Feel free to contribute with a short tutorial on how to use it with this particular driver. As stated above, I am not the right person to write a tutorial on how to use MoveIt! |
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Hi,dear all,I have a problem,my robot is UR10e,I followed the steps above to modify the controllers.yalm file process[robot_state_publisher-1]: started with pid [8384] process[controller_stopper-5]: started with pid [8443] terminal2:roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true process[move_group-1]: started with pid [9208] MoveGroup using: [ INFO] [1592797871.429223559]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner You can start planning now! terminal3:roslaunch ur10_e_moveit_config moveit_rviz.launch config:=true Could you help me ! I want to move the real Hardware UR10e under the rviz! Thanks |
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Hello everyone, I am facing same problem at the point of using the action server on My steps: (with significant messages)
In Terminal of "planning execution:
I would appreciate a detailed description of how to handle the action server practically. Thanks and best regards |
This doesn't look correct to me. |
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You would have to modify the Note: The yaml below has been modified later to match the current controller naming controller_list:
- name: ""
action_ns: /scaled_pos_joint_traj_controller/follow_joint_trajectory
type: FollowJointTrajectory
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_jointWith that setup I just tested it and it seems to work. |
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Dear fmauch,I have a new problem,I am trying to attach a Robotiq 2f AG-85 gripper to a UR10e arm in Rivz,but cannot get the two components to properly connect to one another,I created the xacro file,but only the gripper appears when I launch the MoveIt Setup Assistant and load the xacro.I don't see any errors.can you solve my problems,Thanks in advance! or was there a similar packages? |
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Hello, dear all, I have the same problem and still not fix it after modifing the Then trying to plan and execute in rviz, the actual UR5 didn't move and the terminal shows: which is exact the same errors as before, but my Could anyone help me solve the problem, thanks in advance! |
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@NZdreamer please confirm that the driver is running correctly by using the For this, please also see the most common troubleshooting question. |
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@fmauch Thank you for reply! I had followed the steps in quick start section. The driver is running correctly by |
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Ah, looking back at your comment: Do you use a recent version of the driver? The controller got renamed to |
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@fmauch That's the point! I cloned the driver few weeks ago. Now I fix it, thanks a lots! |
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I get the same
[Click to expand]types: [effort_controllers/JointEffortController, effort_controllers/JointGroupEffortController, effort_controllers/JointGroupPositionController, effort_controllers/JointPositionController, effort_controllers/JointTrajectoryController, effort_controllers/JointVelocityController, force_torque_sensor_controller/ForceTorqueSensorController, industrial_robot_status_controller/IndustrialRobotStatusController, joint_state_controller/JointStateController, pos_vel_acc_controllers/JointTrajectoryController, pos_vel_controllers/JointTrajectoryController, position_controllers/JointGroupPositionController, position_controllers/JointPositionController, position_controllers/JointTrajectoryController, position_controllers/ScaledJointTrajectoryController, ur_controllers/SpeedScalingStateController, velocity_controllers/JointGroupVelocityController, velocity_controllers/JointPositionController, velocity_controllers/JointTrajectoryController, velocity_controllers/JointVelocityController, velocity_controllers/ScaledJointTrajectoryController] base_classes: ['controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase', 'controller_interface::ControllerBase']What is the most recent namespace? The README currently says "scaled_pos_traj_controller/follow_joint_trajectory" but it gives error. Also, it may be handy to mention the controllers.yaml for the users who are not accustomed to moveit config. |
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@gokhansolak please don't dig out old issues if you have an issue that might be related with this one. Please open a new issue where clearly describe what you have done.
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I faced the same issue when I was trying to use an example package that uses Moveit. In my case, I forget to install Moveit package on the ROS. so I solved the issue by running:
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hi I faced the same problem for several days have you fixed it ？ I have changed the action_ns,but it didnot work , could anyone help? |
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Hello, dear all, I have the same problem and still not fix it after modifing the controllers.yaml as guided. When launching moveit! like roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch, I got these: [ WARN] [1596687278.147137989]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' I have changed the action_ns: /scaled_pos_traj_controller/follow_joint_trajectory , but from the WARN above it seems that the change dose not work , that confused me for several days , i have tried "test_move.py" it works well, but the move it dose not work ,could anyone can help ? thanks a lot in advance |
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First of all, thank you all for all of your efforts in this blog. I appreciate it. I am facing many problems related to this section. Question 1: My question is, should I use 192.168.56.101 or 192.168.0.100? If we have to use 192.168.56.101, why are we configuring IP address 192.168.56.1 in URCap (as described here) and why are using 192.168.56.101 and not 192.168.56.1? Please, read details below so that my problem could be cleared. I appreciate for your precious time. Thank you. Here is detail. I am confused about IP address as described here that I need to run the following to get configuration file
UR5 Network IP in Touch Panel is set to be 192.168.0.100. I replace <robot_ip> with that IP and it works. Next, I installed URCap as described here where I set the IP address: 192.168.56.1. However, as described here in Quick start
If I run I get the following warnings However, I do not get any warnings if I run Also my actual robot configuration and configuration in RViz is same. if I run after this command, these commands after the one mentioned just before: However, with this command, My question is should I use 192.168.56.101 or 192.168.0.100? If we have to use 192.168.56.101, why are we configuring IP address 192.168.56.1 in URCap (as described here) and why are using 192.168.56.101 and not 192.168.56.1? Thank you for reading my question. Question 2: I believe that my second problem is due to the first question. I receive the error message as described in your blog here. In particular, I receive the error message on my Touch Panel as
I believe, if you could answer my Question 1, I would be able to solve this problem. I have tried all IPs. 192.168.56.1, 192.168.0.100, 192.168.56.101. Many thanks for your response. |
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even though my controllers.yaml does look as same as @fmauch suggested. |
See #55 (comment), the trajectory controller got renamed to match the other controllers. |
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Sorry, your comment slipped through my mails, before. If your problems / questions still exist, could you please open a new issue? This seems rather unrelated to this particular issue in first place. |
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If you use google translate, don't forget close it and read it carefully "install the URCap on the robot and don't forget the last step of starting the External " above. Yep, it is the small start key In the lower left corner of the screen. This is my problem, maybe it could help you. |
Hi, Just recently I started to use the new ur driver for my ur10e. I followed the steps of setting up the UR robot driver for UR10e. After installing the
external control.urcapand also a bunch of relevant ROS packages, I am able to run theur_robot_driver's ur10e bringup. Iam able to visualize the current robot state with RVIz.However the problem comes when I send in a planned trajectory to the
ur_robot_driverfrom moveit (melodic). My "ros PC" is not able to control the robot. Here's the printout.These are the printouts during startup
These are the printout when a trajectory srv is received
While follow the steps, the problem here seems to be on the ros controller node. Also, fyi i used my same code and it works while using the depreciated ur_modern_driver PR with minimal setup,
Hope someone can help me with this issue. Thanks!!!
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