Closed AxelDegrande closed 2 months ago
If I slightly modify your code and change the -24435
to -2.4435
, then your code runs fine for me. The output could probably be improved there, though.
Agree, we should improve the error feedback to make it easier to spot problem. Though, nice to hear that the tolerance check worked and prevented the robot to do an unexpected fast motion.
@AxelDegrande did you succeed making it work and can we close this issue?
Going ahead and closing this due to inactivity. Feel free to comment / reopen if the issue still persists.
Affected ROS2 Driver version(s)
Latest
Used ROS distribution.
Rolling
Which combination of platform is the ROS driver running on.
Ubuntu Linux with realtime patch
How is the UR ROS2 Driver installed.
From binary packets
Which robot platform is the driver connected to.
Real robot
Robot SW / URSim version(s)
UR10
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
When sending joint positions to the UR10 robot does not move. Two weeks ago it did move.
Issue details
Steps to Reproduce
1) I start the UR10 robot and initialize it --> add the structure for remote control in the robot program 2) Start the ur_driver $ ros2 launch ur_robot_driver ur10.launch.py robot_ip:=192.168.1.200 launch_rviz:=true 3) Run python program that sends six joint angles to the robot (py code below)
Expected Behavior
Normally the robot just moves to that joint position, but now it has an error.
Actual Behavior
Below you can find the full log. The end is where the error is. [ur_ros2_control_node-1] [ERROR] [1698400606.938671893] [scaled_joint_trajectory_controller]: Holding position due to state tolerance violation
Extra info
Thank you for helping
Relevant log output
Accept Public visibility