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UniversalRobots / Universal_Robots_ROS2_Driver

Universal Robots ROS2 driver supporting CB3 and e-Series
BSD 3-Clause "New" or "Revised" License
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Issue with joint_trajectory_controller #138

Closed freesolo92 closed 3 years ago

freesolo92 commented 3 years ago

Hello guys,

I'm new in the ROS world and started with ROS2 (foxy) for my study work. We have some UR Cobots in our robot lab and I want to drive the robots via the ROS2 Driver. I use ROS2 in a Docker container because my host system is a ubuntu 18.04. I followed the setup description in the readme file. After some adaptions in the package.xml, I was able to compile the driver with colcon. But after a minute I got an error output:

--- stderr: joint_trajectory_controller CMake Error at CMakeLists.txt:14 (find_package): By not providing "Findangles.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "angles", but CMake did not find one.

Could not find a package configuration file provided by "angles" with any of the following names:

anglesConfig.cmake
angles-config.cmake

Add the installation prefix of "angles" to CMAKE_PREFIX_PATH or set "angles_DIR" to a directory containing one of the above files. If "angles" provides a separate development package or SDK, be sure it has been installed.

Failed <<< joint_trajectory_controller [3.38s, exited with code 1] Aborted <<< forward_command_controller [8.25s] Aborted <<< diff_drive_controller [8.37s] Aborted <<< joint_state_broadcaster [20.0s]

Summary: 16 packages finished [1min 2s] 1 package failed: joint_trajectory_controller 3 packages aborted: diff_drive_controller forward_command_controller joint_state_broadcaster 5 packages had stderr output: diff_drive_controller forward_command_controller joint_state_broadcaster joint_trajectory_controller ros2_control_test_nodes 13 packages not processed

Maybe someone can give me a hint where to look for this issue and for a solution. I don't know if I did some wrong steps but the setup guide looked very easy.

Greetings, Marcel

destogl commented 3 years ago

Hi Marcel,

did you forgot to execute this line during setup:

rosdep install --ignore-src --from-paths src -y -r

This should automatically install all dependecies.

freesolo92 commented 3 years ago

Hi,

rosdep is already installed and the command rosdep update also works fine. Maybe are there any redudant dependencies? With the trajectory controller from ros and the one from universal robots?

Greets.

livanov93 commented 3 years ago

@freesolo92 The above-mentioned command @destogl has indicated should install all the necessary dependencies needed to build your UR ros2 driver workspace. Please, follow the documentation in the README carefully and don't skip steps.

Cheers!

destogl commented 3 years ago

@freesolo92 did you manage to resolve this?

freesolo92 commented 3 years ago

Sorry for the delayed response. I did not work further on this topic. I switched to ROS1 (Melodic Dist) and this ROS Driver works well. I guess the problem is solved by installing all ros dependecies like mentioned above.

You can close this issue. Thanks for this fast support!

Pomorondza commented 2 years ago

After successfully installing all dependencies with the proposed command above, I still have this issue. Could anyone assist me with this?