MoveIt

[mathgameapi]

After i execute " rosrun ur_control moveit_tutorial.py --tutorial"

I get solution found but controller failed during execution

[ INFO] [1634269755.086322848]: Loading robot model 'ur3'...
[ WARN] [1634269755.157867638, 1643.538000000]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1634269755.161496214, 1643.538000000]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1634269755.161637223, 1643.538000000]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1634269755.161731493, 1643.538000000]: IK Using joint forearm_link -6.28319 6.28319
[ INFO] [1634269755.161813386, 1643.538000000]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1634269755.161895847, 1643.538000000]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1634269755.161986298, 1643.538000000]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1634269755.162081891, 1643.539000000]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1634269755.163546127, 1643.541000000]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1634269755.167668683, 1643.546000000]: Using solve type Speed
[ INFO] [1634269756.195190390, 1644.570000000]: Ready to take commands for planning group arm.

---

Welcome to the MoveIt MoveGroup Python Interface Tutorial

Press Ctrl-D to exit at any time

============ Press Enter to begin the tutorial by setting up the moveit_commander ...

============ Planning frame: world
============ End effector link: ur3_robotiq_hande_gripper
============ Available Planning Groups: ['arm', 'gripper']
============ Printing robot state
joint_state:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "world"
name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint,
wrist_3_joint, hande_left_finger_joint, hande_right_finger_joint]
position: [1.566860301570573, -1.5668435411999733, 1.2568592740372768, -1.5637091385299646, -1.5637164488965385, -1.5409710760749817e-05, 1.363882040352969e-07, 1.363882040352969e-07]
velocity: []
effort: []
multi_dof_joint_state:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "world"
joint_names: []
transforms: []
twist: []
wrench: []
attached_collision_objects: []
is_diff: False

============ Press Enter to execute a movement using a joint state goal ...

[ INFO] [1634269768.584891176, 1656.750000000]: ABORTED: Solution found but controller failed during execution
('Current pose', position:
x: -0.131295242951
y: 0.357079426889
z: 0.257162754126
orientation:
x: -0.700000738268
y: -0.698015165505
z: -0.104421863889
w: 0.108948930659)
============ Press Enter to execute a movement using a pose goal ...

[cambel]

Thanks for reporting the issue. I updated the moveit configuration, it should work now. Let me know if you encounter any other issues,

[mathgameapi]

Thank you for your support.

I git pull the repository.

I ran "roslaunch ur3_gazebo ur_gripper_hande_cubes.launch ur_robot:=ur3e grasp_plugin:=1"
Got some error:
libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'
[INFO] [1634282153.577556, 0.000000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1634282153.579041, 0.000000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1634282153.580349, 0.000000]: Loading controller: joint_state_controller
[INFO] [1634282153.585206, 0.000000]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1634282153.611872, 0.000000]: Loading controller: gripper_controller
[ERROR] [1634282153.620472833]: Could not find joint 'hande_right_finger_joint' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1634282153.620530253]: Failed to initialize the controller
[ERROR] [1634282153.620551700]: Initializing controller 'gripper_controller' failed
[INFO] [1634282154.234538, 0.000000]: Calling service /gazebo/set_model_configuration
[INFO] [1634282154.236857, 0.000000]: Set model configuration status: SetModelConfiguration: success
[INFO] [1634282154.237606, 0.000000]: Unpausing physics
[spawn_gazebo_model-6] process has finished cleanly
log file: /home/ubuntu/.ros/log/b9ac844a-2d87-11ec-ab87-0242ac110003/spawn_gazebo_model-6*.log
[ERROR] [1634282154.621802, 0.381000]: Failed to load gripper_controller
[INFO] [1634282154.622790, 0.382000]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller
[INFO] [1634282154.625025, 0.385000]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller

I run "roslaunch ur3e_hande_moveit_config start_moveit.launch"
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.

[Errno 2] No such file or directory: u'/root/ros_ws/src/universal_robot/ur_description/config/ur3e/joint_limits.yaml'
when evaluating expression 'load_yaml(joint_limits_parameters_file)'
when evaluating expression 'config_joint_limit_parameters['joint_limits']'
when evaluating expression 'sec_limits['shoulder_pan']['min_position']'
when instantiating macro: read_model_data (/home/ubuntu/ros_ws/src/universal_robot/ur_description/urdf/inc/ur_common.xacro)
instantiated from: ur_robot (/home/ubuntu/ros_ws/src/universal_robot/ur_description/urdf/inc/ur_macro.xacro)
instantiated from: ur_robot_gazebo (/home/ubuntu/ros_ws/src/universal_robot/ur_gazebo/urdf/ur_macro.xacro)
in file: /home/ubuntu/ros_ws/src/ur3/ur3_gazebo/urdf/ur_gripper_hande.xacro
RLException: while processing /home/ubuntu/ros_ws/src/ur3/ur3e_hande_moveit_config/launch/move_group.launch:
while processing /home/ubuntu/ros_ws/src/ur3/ur3e_hande_moveit_config/launch/planning_context.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [['xacro', 'joint_limit_params:=/root/ros_ws/src/universal_robot/ur_description/config/ur3e/joint_limits.yaml', 'kinematics_params:=/root/ros_ws/src/universal_robot/ur_description/config/ur3e/default_kinematics.yaml', 'physical_params:=/root/ros_ws/src/universal_robot/ur_description/config/ur3e/physical_parameters.yaml', 'visual_params:=/root/ros_ws/src/universal_robot/ur_description/config/ur3e/visual_parameters.yaml', 'transmission_hw_interface:=hardware_interface/PositionJointInterface', 'safety_limits:=false', 'safety_pos_margin:=0.15', 'safety_k_position:=20', 'dual_arm:=true', 'grasp_plugin:=false', '/home/ubuntu/ros_ws/src/ur3/ur3_gazebo/urdf/ur_gripper_hande.xacro']] returned with code [2].

Param xml is
The traceback for the exception was written to the log file

Thanks

[cambel]

Are you using the docker version?

In any case for the second error, I updated the repository. For the first error, Could not find joint 'hande_right_finger_joint' in 'hardware_interface::PositionJointInterface'. you need to pull the latest version of the robotiq package on the catkin workspace

[mathgameapi]

I am build from source.

i go through all step again still get the error.

Thanks you for yr help

[cambel]

You should not get the same error. Did you pull the latest changes?

[cambel]

@mathgameapi please continue the discussion on the same issue

I found that the ros_ws/src/ur3/ur3e_hande_moveit_config/launch/planning_context.launch have hard code the univerisal_robot path to /root/ros_ws. So it pop the error message.
Now the gazebo can have the movement.

Great, thanks for noticing the source of the problem, I updated the repo again with that change, I renamed the moveit packages so you need to build your catkin workspace again.

Sorry. I am just a ros beginner. If i want to run the sample on the ur3.
Would you like to tell me how to do that?

I don't understand the question, could you be more specific on what you want to do?
Do you want the simulation of the UR3 instead of the UR3e?
if so, you can start the simulation of the UR3 using the following command
roslaunch ur3_gazebo ur_gripper_85_cubes.launch ur_robot:=ur3 grasp_plugin:=1

Do you want to use MoveIt but with the UR3 instead of the UR3e?
if so, you can start MoveIt with the following additional parameter
roslaunch ur_gripper_85_moveit_config start_moveit.launch ur_robot=ur3

[mathgameapi]

Thank new repo works.

I would like to test the your code on real robotic arm ur3.

I would like to know how to do that ?

Thanks.

[cambel]

@mathgameapi I see, to test this repositories code in the real robotic arm you need to set the Universal Robots ROS driver. After setting up the driver and bringing up the connection to the robots. You should be able to execute the same commands as in simulation. For example, you can test moveit by executing roslaunch ur_gripper_85_moveit_config start_moveit.launch ur_robot=ur3

You can also test the controller using the keyboard script rosrun ur_control joint_position_keyboard.py press SPACE to see the helper guide. No additional configuration is needed.

[mathgameapi]

Thank you for your support
I will test it later