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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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unabele to execute path useing moveit on real hardwear #957

Closed bodkal closed 3 months ago

bodkal commented 7 months ago

Affected ROS2 Driver version(s)

humble

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

URSim in docker

Robot SW / URSim version(s)

ros2 run ur_client_library start_ursim.sh -m ur10e

How is the ROS driver used.

Headless without using the teach pendant

Issue details

Summary

whan i trray to execute path using moveit with real hardwer i get: MoveGroupInterface::execute() failed or timeout reached.

Issue details

i can move the arm useng the topic /urscript_interface/script_command. in addisen if i move the arm in the docker i can see it moveing in rviz. on fake harwer it working as expected.

logs for ur_robot_driver:

[INFO] [launch]: All log files can be found below /home/picko/.ros/log/2024-04-02-18-17-51-138774-picko-8411
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [dashboard_client-2]: process started with pid [8416]
[INFO] [controller_stopper_node-3]: process started with pid [8418]
[INFO] [ur_ros2_control_node-1]: process started with pid [8414]
[INFO] [urscript_interface-4]: process started with pid [8420]
[INFO] [robot_state_publisher-5]: process started with pid [8422]
[INFO] [spawner-6]: process started with pid [8424]
[INFO] [spawner-7]: process started with pid [8426]
[INFO] [spawner-8]: process started with pid [8428]
[INFO] [spawner-9]: process started with pid [8430]
[INFO] [spawner-10]: process started with pid [8432]
[INFO] [spawner-11]: process started with pid [8434]
[dashboard_client-2] [INFO] [1712071071.591068025] [UR_Client_Library:]: Connected: Universal Robots Dashboard Server
[dashboard_client-2] 
[ur_ros2_control_node-1] [WARN] [1712071071.592408810] [controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.
[controller_stopper_node-3] [INFO] [1712071071.592509710] [Controller stopper]: Waiting for switch controller service to come up on controller_manager/switch_controller
[ur_ros2_control_node-1] text not specified in the tf_prefix tag
[ur_ros2_control_node-1] [INFO] [1712071071.592701158] [resource_manager]: Loading hardware 'ur10e' 
[robot_state_publisher-5] [INFO] [1712071071.593090806] [robot_state_publisher]: got segment base
[robot_state_publisher-5] [INFO] [1712071071.593154898] [robot_state_publisher]: got segment base_link
[robot_state_publisher-5] [INFO] [1712071071.593159571] [robot_state_publisher]: got segment base_link_inertia
[robot_state_publisher-5] [INFO] [1712071071.593162094] [robot_state_publisher]: got segment flange
[robot_state_publisher-5] [INFO] [1712071071.593164469] [robot_state_publisher]: got segment forearm_link
[robot_state_publisher-5] [INFO] [1712071071.593166862] [robot_state_publisher]: got segment ft_frame
[robot_state_publisher-5] [INFO] [1712071071.593169148] [robot_state_publisher]: got segment shoulder_link
[robot_state_publisher-5] [INFO] [1712071071.593171367] [robot_state_publisher]: got segment tool0
[robot_state_publisher-5] [INFO] [1712071071.593173565] [robot_state_publisher]: got segment upper_arm_link
[robot_state_publisher-5] [INFO] [1712071071.593175750] [robot_state_publisher]: got segment world
[robot_state_publisher-5] [INFO] [1712071071.593177865] [robot_state_publisher]: got segment wrist_1_link
[robot_state_publisher-5] [INFO] [1712071071.593180080] [robot_state_publisher]: got segment wrist_2_link
[robot_state_publisher-5] [INFO] [1712071071.593182219] [robot_state_publisher]: got segment wrist_3_link
[ur_ros2_control_node-1] [INFO] [1712071071.593771585] [resource_manager]: Initialize hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1712071071.593818730] [resource_manager]: Successful initialization of hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1712071071.593945284] [resource_manager]: 'configure' hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1712071071.593950911] [resource_manager]: Successful 'configure' of hardware 'ur10e'
[ur_ros2_control_node-1] [INFO] [1712071071.593981440] [resource_manager]: 'activate' hardware 'ur10e' 
[ur_ros2_control_node-1] [INFO] [1712071071.593989725] [URPositionHardwareInterface]: Starting ...please wait...
[ur_ros2_control_node-1] [INFO] [1712071071.593998273] [URPositionHardwareInterface]: Initializing driver...
[ur_ros2_control_node-1] [WARN] [1712071071.594256554] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1712071071.695323284] [UR_Client_Library:]: Negotiated RTDE protocol version to 2.
[ur_ros2_control_node-1] [INFO] [1712071071.695399697] [UR_Client_Library:]: Setting up RTDE communication with frequency 500.000000
[ur_ros2_control_node-1] [WARN] [1712071072.704048128] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead use the RobotReceiveTimeout, to set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [WARN] [1712071072.704090993] [UR_Client_Library:]: DEPRECATION NOTICE: Setting the keepalive count has been deprecated. Instead you should set the timeout directly in the write commands. Please change your code to set the read timeout in the write commands directly. This keepalive count will overwrite the timeout passed to the write functions.
[ur_ros2_control_node-1] [INFO] [1712071072.704100903] [URPositionHardwareInterface]: Calibration checksum: 'calib_5119701370761913513'.
[ur_ros2_control_node-1] [INFO] [1712071073.723130193] [URPositionHardwareInterface]: Calibration checked successfully.
[ur_ros2_control_node-1] [INFO] [1712071073.723261550] [URPositionHardwareInterface]: System successfully started!
[ur_ros2_control_node-1] [INFO] [1712071073.723284513] [resource_manager]: Successful 'activate' of hardware 'ur10e'
[controller_stopper_node-3] [INFO] [1712071073.728946265] [Controller stopper]: Service available
[controller_stopper_node-3] [INFO] [1712071073.728988165] [Controller stopper]: Waiting for list controllers service to come up on controller_manager/list_controllers
[controller_stopper_node-3] [INFO] [1712071073.729005511] [Controller stopper]: Service available
[ur_ros2_control_node-1] [WARN] [1712071073.731589991] [controller_manager]: Could not enable FIFO RT scheduling policy
[ur_ros2_control_node-1] [WARN] [1712071073.731679533] [UR_Client_Library:]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/doc/real_time.md for details.
[ur_ros2_control_node-1] [INFO] [1712071073.908052207] [controller_manager]: Loading controller 'io_and_status_controller'
[ur_ros2_control_node-1] [INFO] [1712071073.916048104] [controller_manager]: Loading controller 'joint_state_broadcaster'
[spawner-8] [INFO] [1712071073.916359430] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1712071073.919997241] [controller_manager]: Configuring controller 'io_and_status_controller'
[spawner-7] [INFO] [1712071073.920572991] [spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1712071073.922054671] [controller_manager]: Configuring controller 'joint_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1712071073.922099898] [joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published
[spawner-8] [INFO] [1712071073.932351208] [spawner_io_and_status_controller]: Configured and activated io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1712071073.932467023] [controller_manager]: Loading controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1712071073.936687023] [speed_scaling_state_broadcaster]: Loading UR SpeedScalingStateBroadcaster with tf_prefix: 
[ur_ros2_control_node-1] [INFO] [1712071073.938010076] [controller_manager]: Loading controller 'force_torque_sensor_broadcaster'
[spawner-9] [INFO] [1712071073.938433348] [spawner_speed_scaling_state_broadcaster]: Loaded speed_scaling_state_broadcaster
[ur_ros2_control_node-1] [INFO] [1712071073.948475830] [controller_manager]: Loading controller 'scaled_joint_trajectory_controller'
[spawner-10] [INFO] [1712071073.949071207] [spawner_force_torque_sensor_broadcaster]: Loaded force_torque_sensor_broadcaster
[ur_ros2_control_node-1] [WARN] [1712071073.955369218] [scaled_joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false.
[ur_ros2_control_node-1] [INFO] [1712071073.956370894] [controller_manager]: Configuring controller 'speed_scaling_state_broadcaster'
[ur_ros2_control_node-1] [INFO] [1712071073.956478043] [speed_scaling_state_broadcaster]: Publisher rate set to : 100.0 Hz
[spawner-6] [INFO] [1712071073.957133676] [spawner_scaled_joint_trajectory_controller]: Loaded scaled_joint_trajectory_controller
[ur_ros2_control_node-1] [INFO] [1712071073.958314928] [controller_manager]: Configuring controller 'force_torque_sensor_broadcaster'
[ur_ros2_control_node-1] [INFO] [1712071073.962127509] [controller_manager]: Configuring controller 'scaled_joint_trajectory_controller'
[ur_ros2_control_node-1] [INFO] [1712071073.962264682] [scaled_joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter.
[ur_ros2_control_node-1] [INFO] [1712071073.962278856] [scaled_joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity].
[ur_ros2_control_node-1] [INFO] [1712071073.962285352] [scaled_joint_trajectory_controller]: Using 'splines' interpolation method.
[ur_ros2_control_node-1] [INFO] [1712071073.962966367] [scaled_joint_trajectory_controller]: Controller state will be published at 100.00 Hz.
[ur_ros2_control_node-1] [INFO] [1712071073.963729896] [scaled_joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz.
[spawner-7] [INFO] [1712071073.972364570] [spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster
[spawner-9] [INFO] [1712071073.982412486] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_scaling_state_broadcaster
[spawner-10] [INFO] [1712071073.988512636] [spawner_force_torque_sensor_broadcaster]: Configured and activated force_torque_sensor_broadcaster
[spawner-6] [INFO] [1712071073.992498699] [spawner_scaled_joint_trajectory_controller]: Configured and activated scaled_joint_trajectory_controller
[INFO] [spawner-8]: process has finished cleanly [pid 8428]
[INFO] [spawner-7]: process has finished cleanly [pid 8426]
[INFO] [spawner-9]: process has finished cleanly [pid 8430]
[INFO] [spawner-10]: process has finished cleanly [pid 8432]
[INFO] [spawner-6]: process has finished cleanly [pid 8424]
[ur_ros2_control_node-1] [WARN] [1712071129.434502889] [controller_manager]: Could not 'deactivate' controller with name 'forward_position_controller' because no controller with this name exists
[ur_ros2_control_node-1] [INFO] [1712071188.617319201] [scaled_joint_trajectory_controller]: Received new action goal
[ur_ros2_control_node-1] [INFO] [1712071188.617418006] [scaled_joint_trajectory_controller]: Accepted new action goal
[ur_ros2_control_node-1] [INFO] [1712071192.577074917] [scaled_joint_trajectory_controller]: Got request to cancel goal
[ur_ros2_control_node-1] [INFO] [1712071192.577164677] [scaled_joint_trajectory_controller]: Canceling active action goal because cancel callback received.

logs for moveit:

[INFO] [launch]: All log files can be found below /home/picko/.ros/log/2024-04-02-18-36-53-463048-picko-11830
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [move_group-1]: process started with pid [11838]
[INFO] [rviz2-2]: process started with pid [11840]
[INFO] [servo_node_main-3]: process started with pid [11842]
[servo_node_main-3] [WARN] [1712072214.101328843] [moveit_servo.servo_node]: Intra-process communication is disabled, consider enabling it by adding: 
[servo_node_main-3] extra_arguments=[{'use_intra_process_comms' : True}]
[servo_node_main-3] to the Servo composable node in the launch file
[move_group-1] [WARN] [1712072214.102801352] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).
[move_group-1] [INFO] [1712072214.104448596] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00151813 seconds
[move_group-1] [INFO] [1712072214.104475610] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[move_group-1] [INFO] [1712072214.104489864] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [INFO] [1712072214.105853140] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00200157 seconds
[servo_node_main-3] [INFO] [1712072214.105880932] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[servo_node_main-3] [INFO] [1712072214.105890365] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[servo_node_main-3] [WARN] [1712072214.118423896] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[move_group-1] [INFO] [1712072214.160158641] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1712072214.160304449] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1712072214.160887106] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1712072214.161218862] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1712072214.161237447] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1712072214.161493649] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1712072214.161509857] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[servo_node_main-3] [INFO] [1712072214.161631874] [moveit_ros.current_state_monitor]: Listening to joint states on topic '/joint_states'
[move_group-1] [INFO] [1712072214.161961819] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1712072214.162275289] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1712072214.162337945] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1712072214.162345706] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[servo_node_main-3] [INFO] [1712072214.167011179] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[servo_node_main-3] [INFO] [1712072214.167038445] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1712072214.167484672] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'move_group'
[servo_node_main-3] [INFO] [1712072214.168470048] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[servo_node_main-3] [INFO] [1712072214.168839902] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on '/servo_node/publish_planning_scene'
[servo_node_main-3] [WARN] [1712072214.174901009] [moveit_servo.servo_calcs]: No kinematics solver instantiated for group 'ur_manipulator'. Will use inverse Jacobian for servo calculations instead.
[servo_node_main-3] [WARN] [1712072214.174925614] [moveit_servo.collision_check]: Collision check rate is low, increase it in yaml file if CPU allows
[move_group-1] [INFO] [1712072214.176891898] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1712072214.178084011] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.path_tolerance' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1712072214.178096102] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.resample_dt' was not set. Using default value: 0.100000
[move_group-1] [INFO] [1712072214.178099189] [moveit_ros.add_time_optimal_parameterization]: Param 'move_group.min_angle_change' was not set. Using default value: 0.001000
[move_group-1] [INFO] [1712072214.178108380] [moveit_ros.fix_workspace_bounds]: Param 'move_group.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1712072214.178117851] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1712072214.178120951] [moveit_ros.fix_start_state_bounds]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1712072214.178127963] [moveit_ros.fix_start_state_collision]: Param 'move_group.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1712072214.178130939] [moveit_ros.fix_start_state_collision]: Param 'move_group.jiggle_fraction' was not set. Using default value: 0.020000
[move_group-1] [INFO] [1712072214.178134112] [moveit_ros.fix_start_state_collision]: Param 'move_group.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1712072214.178141447] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization'
[move_group-1] [INFO] [1712072214.178144782] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1712072214.178146939] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1712072214.178148831] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1712072214.178172370] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [INFO] [1712072214.188582355] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1712072214.189473775] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller
[move_group-1] [INFO] [1712072214.189559473] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1712072214.189572688] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1712072214.189862198] [moveit_ros.trajectory_execution_manager]: Trajectory execution is not managing controllers
[move_group-1] [INFO] [1712072214.189871233] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1712072214.200729098] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1712072214.200763029] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1712072214.200768488] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[rviz2-2] [INFO] [1712072214.353563713] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1712072214.353622082] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1712072214.366902186] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-2]          at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-2] [ERROR] [1712072217.435244356] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-2] [INFO] [1712072217.456653351] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-2] [INFO] [1712072217.515234078] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00157875 seconds
[rviz2-2] [INFO] [1712072217.515266003] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[rviz2-2] [INFO] [1712072217.515274213] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[rviz2-2] [INFO] [1712072217.561861468] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[rviz2-2] [INFO] [1712072217.562394721] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene'
[rviz2-2] [INFO] [1712072217.776689429] [interactive_marker_display_103072727273904]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic
[rviz2-2] [INFO] [1712072217.781381648] [moveit_ros_visualization.motion_planning_frame]: group ur_manipulator
[rviz2-2] [INFO] [1712072217.781397220] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'ur_manipulator' in namespace ''
[rviz2-2] [INFO] [1712072217.785515630] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
[rviz2-2] [INFO] [1712072217.787209137] [interactive_marker_display_103072727273904]: Sending request for interactive markers
[rviz2-2] [INFO] [1712072217.821375868] [interactive_marker_display_103072727273904]: Service response received for initialization
[move_group-1] [INFO] [1712072223.005767173] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Received request to compute Cartesian path
[move_group-1] [INFO] [1712072223.005938696] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Attempting to follow 1 waypoints for link 'tool0' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
[move_group-1] [WARN] [1712072223.009935220] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[move_group-1] [INFO] [1712072223.012569136] [moveit_move_group_default_capabilities.cartersian_path_service_capability]: Computed Cartesian path with 35 points (followed 100.000000% of requested trajectory)
[rviz2-2] [INFO] [1712072223.013286481] [moveit_ros_visualization.motion_planning_frame_planning]: Achieved 100.000000 % of Cartesian path
[rviz2-2] [INFO] [1712072223.014694283] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[rviz2-2] [WARN] [1712072223.038145158] [moveit_trajectory_processing.time_optimal_trajectory_generation]: Joint acceleration limits are not defined. Using the default 1 rad/s^2. You can define acceleration limits in the URDF or joint_limits.yaml.
[rviz2-2] [INFO] [1712072223.042214948] [moveit_ros_visualization.motion_planning_frame_planning]: Computing time stamps SUCCEEDED
[move_group-1] [INFO] [1712072229.699021755] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Received goal request
[move_group-1] [INFO] [1712072229.699304356] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution request received
[move_group-1] [INFO] [1712072229.699360432] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1712072229.699393922] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1712072229.699568957] [moveit_ros.trajectory_execution_manager]: Validating trajectory with allowed_start_tolerance 0.01
[rviz2-2] [INFO] [1712072229.699380598] [move_group_interface]: Execute request accepted
[move_group-1] [INFO] [1712072229.700426551] [moveit_ros.trajectory_execution_manager]: Starting trajectory execution ...
[move_group-1] [INFO] [1712072229.700511452] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1712072229.700535348] [moveit.plugins.moveit_simple_controller_manager]: Returned 2 controllers in list
[move_group-1] [INFO] [1712072229.700756786] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: sending trajectory to scaled_joint_trajectory_controller
[move_group-1] [INFO] [1712072229.701795074] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: scaled_joint_trajectory_controller started execution
[move_group-1] [INFO] [1712072229.701851353] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Goal request accepted!
[move_group-1] [WARN] [1712072233.153749232] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: waitForExecution timed out
[move_group-1] [ERROR] [1712072233.153817450] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 3.451731 seconds). Stopping trajectory.
[move_group-1] [INFO] [1712072233.153921799] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Cancelling execution for scaled_joint_trajectory_controller
[move_group-1] [INFO] [1712072233.154669747] [moveit_ros.trajectory_execution_manager]: Completed trajectory execution with status TIMED_OUT ...
[move_group-1] [INFO] [1712072233.154831606] [moveit_move_group_default_capabilities.execute_trajectory_action_capability]: Execution completed: TIMED_OUT
[rviz2-2] [INFO] [1712072233.155471553] [move_group_interface]: Execute request aborted
[rviz2-2] [ERROR] [1712072233.155944623] [move_group_interface]: MoveGroupInterface::execute() failed or timeout reached
[move_group-1] [INFO] [1712072233.202522249] [moveit.simple_controller_manager.follow_joint_trajectory_controller_handle]: Controller 'scaled_joint_trajectory_controller' successfully finished

controllers logs:

picko@picko:~$ ros2 control list_controllers
force_torque_sensor_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active    
forward_position_controller[position_controllers/JointGroupPositionController] inactive  
speed_scaling_state_broadcaster[ur_controllers/SpeedScalingStateBroadcaster] active    
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
scaled_joint_trajectory_controller[ur_controllers/ScaledJointTrajectoryController] active    
io_and_status_controller[ur_controllers/GPIOController] active

Steps to Reproduce

i run in 3 terminals:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.56.101 launch_rviz:=false use_fake_hardware:=false

ros2 run ur_client_library start_ursim.sh -m ur10e

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e launch_rviz:=true

then try to move the arm useing the rviz plagin (move from code dosent work as well)

Expected Behavior

arm move to goal.

Actual Behavior

arm dosent move.

Relevant log output

No response

Accept Public visibility

RobertWilbrandt commented 6 months ago

Did you start the external control program on the teach pendant after starting the driver (e.g. after ros2 launch ur_robot_driver ur_control.launch.py [...])? When this is started you should see the lines

[ur_ros2_control_node-1] [INFO] [1712574636.743142775] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1712574636.743210885] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1712574636.789046949] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.

in your controller log. Alternatively you can use headless mode.

bodkal commented 6 months ago

update: i find how to eanable the external control and now it is working. can i anable the external control by default? or from code?

tanks for the replay. I'm using the script from the ur_client_library, so the external control should be enabled from the beginning. Screenshot from 2024-04-08 18-53-20

And it looks like the external control is enabled. Screenshot from 2024-04-08 18-56-06

i dont see the log you provided in my terminal. any idea?

RobertWilbrandt commented 6 months ago

URsim has the urcap installed, but no program using it and also doesn't start it directly (which wouldn't work, because you have to start the driver on the PC first). Please look at the already linked headless mode if you want to start the program automatically on driver startup.

fmauch commented 3 months ago

@bodkal Since the above comment seems to be an adequate solution, I will go ahead and close this issue. If the issue still persists and/or you would like to comment something more, feel free to do so and/or reopen this issue.