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UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.
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Connecting jog_arm to real UR3 #94

Closed AshwinR96 closed 5 years ago

AshwinR96 commented 5 years ago

HI,

I am trying to use jog_arm with the real ur3 but i am not able to send commands to the real robot. I was able to connect jog_arm to a gazebo simulation. I have listed below all my config files, rostopic list and roslaunch file. Can you please help me find out what the issue is?

I am not sure what the correct controller settings are. I tried shutting down all controllers except joint_group_vel_controller and my config files are set like this:

My jog_settings.yaml file is: gazebo: false # Whether the robot is started in a Gazebo simulation environment collision_check: false # Check collisions? command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s scale: # Only used if command_in_type=="unitless" linear: 0.004 # Max linear velocity. Meters per publish_period. Units is [m/s] rotational: 0.008 # Max angular velocity. Rads per publish_period. Units is [rad/s] joint: 0.003 # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s]. cartesian_command_in_topic: jog_arm_server/delta_jog_cmds # Topic for xyz commands joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands command_frame: base_link # TF frame that incoming cmds are given in incoming_command_timeout: 0.2 # Stop jogging if X seconds elapse without a new cmd joint_topic: joint_states move_group_name: manipulator # Often 'manipulator' or 'arm' lower_singularity_threshold: 30 # Start decelerating when the condition number hits this (close to singularity) hard_stop_singularity_threshold: 45 # Stop when the condition number hits this lower_collision_proximity_threshold: 0.1 # Start decelerating when a collision is this far [m] hard_stop_collision_proximity_threshold: 0.005 # Stop when a collision is this far [m] planning_frame: base_link # The MoveIt! planning frame. Often 'base_link' low_pass_filter_coeff: 2. # Larger --> trust the filtered data more, trust the measurements less. publish_period: 0.008 # 1/Nominal publish rate [seconds] publish_delay: 0.005 # delay between calculation and execution start of command collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often. warning_topic: jog_arm_server/warning joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger. command_out_topic: joint_group_vel_controller/command command_out_type: std_msgs/Float64MultiArray publish_joint_positions: false publish_joint_velocities: true publish_joint_accelerations: false

and my ur3_moveit_config controllers.yaml file is (this actually gives me an error saying unknown controller type "velocity_controllers/JointGroupVelocityController") :

`controller_list:

when i do rostopic list i get:

/attached_collision_object /clicked_point /collision_object /execute_trajectory/cancel /execute_trajectory/feedback /execute_trajectory/goal /execute_trajectory/result /execute_trajectory/status /initialpose /jog_arm_server/delta_jog_cmds /jog_arm_server/joint_delta_jog_cmds /jog_arm_server/warning /joint_group_vel_controller/command /joint_states /joint_temperature /move_base_simple/goal /move_group/cancel /move_group/display_contacts /move_group/display_planned_path /move_group/feedback /move_group/goal /move_group/monitored_planning_scene /move_group/ompl/parameter_descriptions /move_group/ompl/parameter_updates /move_group/plan_execution/parameter_descriptions /move_group/plan_execution/parameter_updates /move_group/planning_scene_monitor/parameter_descriptions /move_group/planning_scene_monitor/parameter_updates /move_group/result /move_group/sense_for_plan/parameter_descriptions /move_group/sense_for_plan/parameter_updates /move_group/status /move_group/trajectory_execution/parameter_descriptions /move_group/trajectory_execution/parameter_updates /pickup/cancel /pickup/feedback /pickup/goal /pickup/result /pickup/status /place/cancel /place/feedback /place/goal /place/result /place/status /planning_scene /planning_scene_world /recognized_object_array /rosout /rosout_agg /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full /rviz_parallels_vm_7426_4186558235624850098/motionplanning_planning_scene_monitor/parameter_descriptions /rviz_parallels_vm_7426_4186558235624850098/motionplanning_planning_scene_monitor/parameter_updates /tf /tf_static /tool_velocity /trajectory_execution_event /ur_driver/URScript /ur_driver/io_states /ur_driver/robot_status /wrench

In my roslaunch file I am launching:

ur3_ros_control.launch ur3_moveit_planning_execution.launch moveit_rviz.launch jog_with_xbox

AndyZe commented 5 years ago

My quick initial guess is that you shouldn't have killed the joint_states controller. It publishes joints from the robot driver, I think. Try re-launching and stopping only the default trajectory controller.

AndyZe commented 5 years ago

I know this ros_control stuff can be confusing...

AshwinR96 commented 5 years ago

Hi Andy thank you very much for the quick response, I added the joint_states controller back in could you also help me with the ur3_moveit_config controllers.yaml file? What is the correct controller type?

My yaml file is like this at the moment:

`controller_list:

name: "" action_ns: joint_group_vel_controller/command type: velocity_controllers/JointGroupVelocityController joints: shoulder_pan_joint shoulder_lift_joint elbow_joint wrist_1_joint wrist_2_joint wrist_3_joint`

AndyZe commented 5 years ago

This is what I have. There shouldn't be an action_ns because there's no action associated with this controller.

joint_group_vel_controller: type: velocity_controllers/JointGroupVelocityController joints:

AshwinR96 commented 5 years ago

I set my ur3_moveit_config like this:

image

and i get the error

[ERROR] [1553114876.935109804]: Unknown controller type: velocity_controllers/JointGroupVelocityController

AndyZe commented 5 years ago

try sudo apt install ros-kinetic-velocity-controllers

AshwinR96 commented 5 years ago

I am still getting the same error after installing that

AndyZe commented 5 years ago

You may need to re-load the controller library. See the wiki here.

http://wiki.ros.org/controller_manager

rosservice call /controller_manager/reload-libraries

or something like that

AshwinR96 commented 5 years ago

I ran that:

image

but i still get the same error when i run move_group.launch:

image
AshwinR96 commented 5 years ago

I am actually able to control the ur3 using jog_arm now, I just ignored this unknown controller type error.

In jog_arm I am set the command out topic to ur_driver/joint_states, and this worked.

Thanks for your help.

AndyZe commented 5 years ago

Hmm, that's a new and interesting way to do it. Good

AndyZe commented 5 years ago

I think the confusion arose because most people are using ur_modern_driver these days, not ur_driver

Tina1994 commented 5 years ago

@AshwinR96 Did you solve this problem finally? I meet the same question. And you mentioned that you ignored the error and still can do the velocity control? Is it true? Hope for your help, thanks very much.

AshwinR96 commented 5 years ago

@Tina1994 Yeah i was able to do velocity control, my understanding is that jog_arm doesnt need moveit's controllers to move the robot and MoveIt! starts after a few seconds despite giving the error message. I used the ur_modern_driver package to open the joint_states topic, and set jog_arm publish to publish to the joint_speeds topic.

The joint_states topic is launched with this: `roslaunch ur_modern_driver ur3_bringup.launch robot_ip:=IP_OF_THE_ROBOT'

This is my jog_settings.yaml file:

gazebo: false # Whether the robot is started in a Gazebo simulation environment collision_check: true # Check collisions? command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s scale: # Only used if command_in_type=="unitless" linear: 0.0001 # Max linear velocity. Meters per publish_period. rotational: 0.0015 # Max angular velocity. Rads per publish_period. joint: 0.0015 # Max joint angular/linear velocity. Rads or Meters per publish period. cartesian_command_in_topic: jog_arm_server/delta_jog_cmds # Topic for xyz commands joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands command_frame: base_link # TF frame that incoming cmds are given in incoming_command_timeout: 0.5 # Stop jogging if X seconds elapse without a new cmd joint_topic: joint_states move_group_name: manipulator # Often 'manipulator' or 'arm' lower_singularity_threshold: 30 # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity lower_collision_proximity_threshold: 0.1 # Start decelerating when a collision is this far [m] hard_stop_collision_proximity_threshold: 0.005 # Stop when a collision is this far [m] planning_frame: base_link # The MoveIt! planning frame. Often 'base_link' low_pass_filter_coeff: 12. # Larger-> more smoothing to jog commands, but more lag. publish_period: 0.008 # 1/Nominal publish rate [seconds] publish_delay: 0.005 # delay between calculation and execution start of command collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often. warning_topic: jog_arm_server/warning joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger. quickly, make this larger. command_out_topic: ur_driver/joint_speed command_out_type: trajectory_msgs/JointTrajectory publish_joint_positions: true publish_joint_velocities: true publish_joint_accelerations: false

gavanderhoorn commented 5 years ago

@AshwinR96 wrote:

I am actually able to control the ur3 using jog_arm now, I just ignored this unknown controller type error.

In jog_arm I am set the command out topic to ur_driver/joint_states, and this worked.

that cannot work. The joint_states topic only broadcasts current state, it doesn't accept any commands.