Moveit not working with UR10 #26
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I'm also facing the same issue! |
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It looks like the newer versions of Unity mess up the rigged Unity UR10 model. You can try to re-import the UR10 URDF or wait for us to update. |
Hello, thank you for your reply. To re-import the URDF i'll need to follow your "Import URDF" tutorial right? |
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Folllow the "LEO Robot" Example, except for UR10: https://github.com/fsstudio-team/ZeroSimROSUnity#import-urdf Also, you may need to use a 2020 version of Unity as we have not done any thorough testing with 2021 and it seems to break a lot of things -- we are slowly working through the issues with 2021. |
Okay, will try this out. Thank you! |
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FYI: Some random notes for UR10 Import from awhile ago -- should be still relevant. Note: the ZeroSim Docker image already has UR10 repo in the Catkin Worksapace.
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@micahpearlman Thanks a lot for this precise guidance. I shall let you know how it goes. Cheers! |
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@tejasps28 after further analysis I may be sending you down the wrong rabbit hole. Apologies. I am now seeing some weird connection issue through ROS bridge. In the Unity console I'm getting: And in the Docker I'm getting: |
Uh, yes. I had noticed these myself too. So could you suggest what's the right way forward? |
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Not super clear on that at the moment. Trying to back track to what has changed to have caused this issue -- we haven't done a lot of changes in the past several months, either to the Unity code base or the Docker image -- so it is one of those very odd bugs. |
Okay. Please let me know the solution to this when you find the bug. Thank you! |
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So RQT works just fine (see above). Something broken with the RViz config. Try launching RViz without the configuration and hand configure it? |
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I'm sure there is just some weird ROS namespace thing or some minor configuration with RViz MoveIt. Take a look at the launch file: |
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@micahpearlman Thanks, i did this and was able to reproduce the same using RQT. Willl try rviz configuration manually and let you know how it goes. |
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@micahpearlman @tejasps28 Hi, I have found the problem. Just correct the ZO_CONTROLLER_MANAGER_SERVICE in Unity Editor with name I have verified it with docker and VNC. I will try to test it on noetic as well. |
Yes, i tried this! It seems to work perfectly fine! Thank you @ptiwari0664 @micahpearlman |
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Fantastic! I will put in a fix for this ASAP. |
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Hi,
I am trying to run UR10 with moveit as per the instructions. However, Moveit is not able to connect with Unity and it says
I have tried multiple options with sim param, as its should remap /follow_joint_trajectory to /arm_controller/follow_joint_trajectory, but it is not able to do it. Has anybody faced the same issue ?
Detailed terminal goes:
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