Could not find openrave_catkin #2
Comments
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@wonchul-kim no need for so many question marks. One is more than enough, don't you agree? cd ~/catkin_ws/src
git clone https://github.com/crigroup/openrave_catkin |
fsuarez6
changed the title
openrave_catkin
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On a second thought, the easiest workaround would be to modify robotiq_description/CMakeLists.txt. |
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Thank you for your reply!
I already did all what you said.
First, I downloaded openrave_catkin in your git and did catkin_make, but I
got this error :
CMake Error at openrave_catkin-master/CMakeLists.txt:5 (find_package):
By not providing "FindOpenRAVE.cmake" in CMAKE_MODULE_PATH this project
has
asked CMake to find a package configuration file provided by "OpenRAVE",
but CMake did not find one.
Could not find a package configuration file provided by "OpenRAVE" with
any
of the following names:
OpenRAVEConfig.cmake
openrave-config.cmake
Add the installation prefix of "OpenRAVE" to CMAKE_PREFIX_PATH or set
"OpenRAVE_DIR" to a directory containing one of the above files. If
"OpenRAVE" provides a separate development package or SDK, be sure it has
been installed.
…-- Configuring incomplete, errors occurred!
See also "/home/icsl/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/icsl/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
Secondly, i edited CMakeLists.txt as you said. I removed lines 13, 14 and
replace openrave_catkin to roslaunch.
Then, i succeeded to complete catkin_make.
However, when I controlled the gripper, I got error....
I think i spawned the gripper in a wrong way....
This is how i attached the gripper to the UR3 manipulator.
in launch file,
<rosparam file="$(find
robotiq_control)/config/cmodel_action_controller.yaml" command="load"/>
<node name="gripper_controller_spawner" pkg="controller_manager"
type="spawner" respawn="false" output="screen" />
in xacro file,
<xacro:include filename="$(find
robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro" />
<xacro:robotiq_85_gripper prefix="" parent="tool0" >
<origin xyz="0.0 0.0 -0.01" rpy="1.57 -1.57 0"/>
</xacro:robotiq_85_gripper>
then, when i launched the gazebo this error came up:
[gripper_controller-10] process has died [pid 1501, exit code 2, cmd
/opt/ros/kinetic/lib/controller_manager/spawner __name:=gripper_controller
__log:=/home/icsl/.ros/log/de353384-8313-11e7-8c7e-a0c58912381f/gripper_controller-10.log].
log file:
/home/icsl/.ros/log/de353384-8313-11e7-8c7e-a0c58912381f/gripper_controller-10*.log
and the below is came up when i tried to roslaunch robotiq_control
cmodel_simple_controller.launch
r: Reset
a: Activate
c: Close
o: Open
(0-255): Go to that position
f: Faster
l: Slower
i: Increase force
d: Decrease force
-->Traceback (most recent call last):
File
"/home/icsl/catkin_ws/src/robotiq-master/robotiq_control/scripts/cmodel_tcp_driver.py",
line 41, in <module>
mainLoop(sys.argv[1])
File
"/home/icsl/catkin_ws/src/robotiq-master/robotiq_control/scripts/cmodel_tcp_driver.py",
line 22, in mainLoop
status = gripper.getStatus()
File
"/home/icsl/catkin_ws/src/robotiq-master/robotiq_control/src/robotiq_control/cmodel_base.py",
line 112, in getStatus
status = self.client.getStatus(6);
File
"/home/icsl/catkin_ws/src/robotiq-master/robotiq_control/src/robotiq_control/cmodel_base.py",
line 51, in getStatus
response = self.client.read_input_registers(0, numRegs)
File "/usr/lib/python2.7/dist-packages/pymodbus/client/common.py", line
120, in read_input_registers
return self.execute(request)
File "/usr/lib/python2.7/dist-packages/pymodbus/client/sync.py", line 82,
in execute
raise ConnectionException("Failed to connect[%s]" % (self.__str__()))
pymodbus.exceptions.ConnectionException: Modbus Error: [Connection] Failed
to connect[192.168.0.13:502]
[cmodel_tcp_driver-1] process has died [pid 2611, exit code 1, cmd
/home/icsl/catkin_ws/src/robotiq-master/robotiq_control/scripts/cmodel_tcp_driver.py
192.168.0.13 __name:=cmodel_tcp_driver
__log:=/home/icsl/.ros/log/de353384-8313-11e7-8c7e-a0c58912381f/cmodel_tcp_driver-1.log].
log file:
/home/icsl/.ros/log/de353384-8313-11e7-8c7e-a0c58912381f/cmodel_tcp_driver-1*.log
Could you please help me?
2017-08-17 15:09 GMT+09:00 Francisco <notifications@github.com>:
On a second thought, the easiest workaround would be to modify
robotiq_description/CMakeLists.txt
<https://github.com/crigroup/robotiq/blob/7c67910f2fdc306604821015c4ff900f7d633799/robotiq_description/CMakeLists.txt>
.
Remove lines 14,13 and 5.
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That problem doesn't have anything to do with the URDF. What is the IP address of your gripper? |
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I am just doing simulation by gazebo. What I really want to ask is if I edited launch and xacro file to atttach the gripper to the UR3 manipulator as I showed in the right above question. This is how i attached the gripper to the UR3 manipulator. in launch file, in xacro file, <xacro:include filename="$(find robotiq_description)/urdf/robotiq_85_gripper.urdf.xacro" /> <xacro:robotiq_85_gripper prefix="" parent="tool0" > then, when i launched the gazebo this error came up: |
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Thank you!!!
Final question, what is cmodel?
I've seen in robotiq official github that there are cmodel and just normal
model.
what is the difference?
2017-08-17 16:46 GMT+09:00 Francisco <notifications@github.com>:
… Oh, I see.
Here
<https://github.com/quangounet/osr_course_pkgs/blob/ed23833a6f1fcdc7d1b40d0b319ba52f923be988/osr_description/urdf/denso_robotiq_85_gripper.urdf.xacro#L48>
you can find a working example.
That robot is shown here
<http://osrobotics.org/pages/robot_simulation.html>, figure 2.
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No clue |
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@ wonchul-kim what do you mean by 'replace openrave_catkin to roslaunch, when you said:
I have the same problem with |
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Instead of removing line 5 from robotiq_description/CMakeLists.txt, I removed line 5 from openrave_catkin/CMakeLists.txt . |
while i did catkin_make to compile your code...
I got error about ' could not find openrave_catkin"
how can i install it???
I find that you have the source of openrave_catkin in your git.
However, I don't understand to install it......
Could you help me?
Also, i attached it to UR3 and add the controller by the below:
Is this right???
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