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IFRA-Cranfield / ros2_SimRealRobotControl

This repository provides ready-to-use ROS2 (Humble) packages to execute simple programs and sequences and control different Industrial and Collaborative Robots using ROS 2.
Apache License 2.0
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ros2 run encountered problems #8

Closed hhz0328 closed 1 month ago

hhz0328 commented 6 months ago

xxx@hhz:~/dev_ws$ ros2 run ros2srrc_execution sequence.py --ros-args -p PROGRAM_FILENAME:="ur3" -p ROBOT_MODEL:="ur3" -p EE_MODEL:="robotiq_2f85" -p GzBr_ENV:="gazebo"

--- Cranfield University --- (c) IFRA Group

ros2srrc_execution --> SEQUENCE EXECUTION Python script -> sequence.py

[INFO] [1705907216.091645655] [ros2srrc_program_param]: PROGRAM_FILENAME ROS2 Parameter received: ur3 [INFO] [1705907216.109238656] [ros2srrc_robot_param]: ROBOT_MODEL ROS2 Parameter received: ur3 [INFO] [1705907216.125560796] [ros2srrc_ee_param]: EE_MODEL ROS2 Parameter received: robotiq_2f85 [INFO] [1705907216.142580490] [ros2srrc_gzbr_param]: GzBr_ENV ROS2 Parameter received: gazebo

Waiting for ros2srrc_data/Sequence ACTION SERVER to be available...

What should I do to get to the next step?

NilsHeidemann commented 4 months ago

If you want to execute a program on a real robot you have to launch robot bringup and moveit2 in another command window first. Heres the command for an UR3 robot:

ros2 launch ros2srrc_ur3_bringup ur3_bringup.launch.py

hhz0328 commented 4 months ago

thanks for your answer.