Closed yoraish closed 1 month ago
Excitingly, progress was eventually made. We added the namespaces as described above, included a new MoveIt! configuration package's move_group
launchfile, and corrected the names of the controllers within the simple_moveit_controllers.yaml
file. As an example, this is a corrected controller name:
- name: my_left_arm/left_gen3_joint_trajectory_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: True
joints:
- left_joint_1
- left_joint_2
- left_joint_3
- left_joint_4
- left_joint_5
- left_joint_6
:)
Thanks for letting us know! We'll see if we can improve our documentation accordingly on our next update.
Description
I am attempting to use MoveIt! to control multiple Kinova Gen3 (with Robotiq 2F-85) robots together. The two arms and a laptop are connected via ethernet cables to a router. Both arms can be controlled properly via
roslaunch kortex_driver kortex_driver.launch gripper:=robotiq_2f_85 ip_address:=<IP>
. As of now, I could not get both arms to work together viaroslaunch kortex_driver kortex_dual_driver.launch <params>
. Would love advice here.Version
ROS distribution: Noetic on Ubuntu 20.04
Branch and commit you are using: noetic-devel at d57a287cdc85031ae351089b82c71cb8cace16be
Steps to reproduce
ros_kortex
package into itssrc
directory.sudo apt install ros-noetic-moveit
. (I re-ran the command to verify up-to-date binaries.)roslaunch kortex_driver kortex_dual_driver.launch left_ip_address:=192.168.1.22 right_ip_address:=192.168.1.33 left_gripper:=robotiq_2f_85 right_gripper:=robotiq_2f_85
. (Example IP addresses).[ERROR] [1720462627.560042924]: Robot semantic description not found. Did you forget to define or remap '/robot_description_semantic'?
A few things I have attempted:
kortex_dual_driver.launch
to add a namespace around each of thekortex_arm_driver
includes:This helps, and now the![image](https://github.com/Kinovarobotics/ros_kortex/assets/30226882/e7d6432f-6196-40c5-807c-ff6651164764)
joint_state_publisher
creates a meaningful/joint_states
topic and the actual poses are reflected in RViz. MoveIt is still not working.moveit_config
for this setup, so I created one withsetup_assistant
and tried to launch itsmove_group.launch
from within (and not) thekortex_dual_arm_driver.launch
file. I tried a few different configurations and changes in this approach but was not able to make progress. When doing this, the MoveIt move groups were made available in the GUI, however the planners were not. Themove_group
node printed warnings similar to[ WARN] [1720465055.240911013]: Waiting for left_arm_controller/follow_joint_trajectory to come up...
and eventually the driver node printed the error[ERROR] [1720464427.932989220]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
. I tried it with and without the additional namespacing described above.bug-fix/dual-arm-melodic
branch in multiple configurations. I can provide more details on this if needed, but I figured it might be better to stick with the Noetic branch.Any help or advice would be greatly appreciated!