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FlorisE / ur5_moveit2_demo

Demonstration of using MoveIt2 with a UR5e model in rviz, based on run_moveit_cpp
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Would you mind telling me the project's ros2 version #1

Open yaqianchen opened 2 years ago

yaqianchen commented 2 years ago

Hi, This is Lucy, I am very new in ROS2 and I am also trying to build my own robot model on ROS2 moveit2. I am now working on foxy and I have encountered some errors when I ran your program on foxy.

I have run: " ros2 launch ur5_run_move_group ur5_run_move_group.launch.py " and " ros2 launch ur5_run_move_group ur5_run_move_group_interface.launch.py "

It gives me the error below [ERROR] [move_group-4]: process[move_group-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' [INFO] [move_group-4]: sending signal 'SIGTERM' to process[move_group-4] [ERROR] [move_group-4]: process has died [pid 568079, exit code -15, cmd '/opt/ros/foxy/lib/moveit_ros_move_group/move_group --ros-args --params-file /tmp/launch_params_r555ydst --params-file /tmp/launch_params_jpanagch --params-file /tmp/launch_params_7_g7jbbb --params-file /tmp/launch_params_3qv8drmq --params-file /tmp/launch_params_o2m9ppg6 --params-file /tmp/launch_params_4b3wxrus --params-file /tmp/launch_params_pvza46dg'].

I am not sure if my command is wrong or if this program is based on another ROS version. I would be more than happy if you would help. Sorry for any inconvenience.

FlorisE commented 2 years ago

Hello, thanks for your message. The package was originally written using ROS 2 Foxy. Sadly, it seems like there were many API changes so I'm not sure how much work it will be to get this package to run today. I suggest you check out the official UR ROS2 repo: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver

yaqianchen commented 2 years ago

@FlorisE Thank you for your help

yaqianchen commented 2 years ago

Hi, I am really sorry for bothering you again. I am still struggling on building the ROS2 model myself. I would really appreciate it if you would like to tell me where did you find the fake_joint_driver for ROS2. I only found the version for ROS1.

Sorry again for bothering you.

FlorisE commented 2 years ago

Hello, sorry to get back to you so late.

The fake_joint we used was this one: https://github.com/JafarAbdi/fake_joint/tree/foxy (note to use the foxy branch).