Closed haavarpb closed 9 months ago
fmauch
commented
2 years ago Thank you for your report and your excellent debugging skills. Indeed, the scaled interface is not available for the gazebo simulation as this is currently more or less a ur-specific feature. We hope to change this in the future, but we don't have any particular time frame ATM.
padhupradheep
commented
2 years ago To circumvent this issue, it would be nice to use the use_fake_hardware when we include the launch for moveit in ur_sim_moveit.launch.py
ur_moveit_launch = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[FindPackageShare("ur_moveit_config"), "/launch", "/ur_moveit.launch.py"]
),
launch_arguments={
"ur_type": ur_type,
"safety_limits": safety_limits,
"description_package": description_package,
"description_file": description_file,
"moveit_config_package": moveit_config_package,
"moveit_config_file": moveit_config_file,
"prefix": prefix,
"use_sim_time": "true",
"use_fake_hardware": "True",
"launch_rviz": "true",
}.items(),
)Hope this helps! I'll try to give in a PR, if the maintainers are interested.
fmauch
commented
2 years ago @padhupradheep thanks for suggesting this. This will probably see some rework in the near future, since we've found the reason for https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/390. Hence, the automatic switch of the default controller will at least be renamed rather soon. When this is done, it is indeed a good idea to change the launchfile in here.
padhupradheep
commented
2 years ago No problem.
"use_fake_hardware": "True",
Another interesting thing here is that, you definitely need to have capital T for "True". Else, there will be an error, when you use them with the Context. It could be interesting for other params as well during the rework.
gachiemchiep
commented
1 year ago I am using humble, the ur_sim_moveit.launch.py file has the following check
change_controllers = context.perform_substitution(use_fake_hardware)
if change_controllers == "true":
controllers_yaml["scaled_joint_trajectory_controller"]["default"] = False
controllers_yaml["joint_trajectory_controller"]["default"] = True
so I think for now "use_fake_hardware": "True", need to be "use_fake_hardware": "true",
fmauch
commented
9 months ago This seems to boil down to a duplicate of #8, so closing this.
Hi,
after finally being able to run the gazebo simulation (needed to update ur_msgs dependency like in #10, update the locale LC_NUMERIC which was related to MoveIt2) I am having difficulties with moving the gazebo ur robot.
Starting the driver using
ros2 launch ur_simulation_gazebo ur_sim_moveit.launch.pystarts the system with the following controllers loaded:If I now move the ur robot using the Rviz with MoveIt, and hit Plan everything looks fine:
However, when I click Execute, this happens:
Ok, so it looks like MoveIt wants to talk to the
scaled_joint_trajectory_controller(SJTC), while it's actuallyjoint_trajectory_controller(JTC) that's loaded byros2 control. Fair enough, after switching the default controller inur_moveit_config/config/controllers.yamlfrom the SJTC to JTC, I am able to move the gazebo robot!Now, as an exercise, I looked into if I could manage to use the SJTC instead. First thing I tried is to unload JTC, and then load-configure-start the SJTC through
ros2 control. This results in the following messages:Based on these messages, the ros control architecture and the explanation of the different
ur_controllershere I decided to try and start thespeed_scaling_state_broadcasterinstead of thejoint_state_broadcasterhoping that these are equivalent besides that the former also publishes the requiredspeed_scaling/speed_scaling_factor. Hope is not enough, as it didn't work...I am at my limit of my ROS2 knowledge here, but I will continue to try. However, I am dropping this here to see if anyone knows how I can configure the UR robot to use the SJTC.
PS: I feel like using the
ros2 controlinterface is the wrong thing to do here, as moveit adds a node called/moveit_simple_controller_managerwhich seems to invokeros2 control, however I have not found a way to tell it to switch controllers. Looking into the moveit repo, it seems that there might be an implementation of aMoveItControllerManagerthat could help, but I am unable to see how I would approach incorporating it. It seems that this thread is relevant as well.Thanks for any help, and sorry if this is inappropriate.