gavanderhoorn
commented
3 years ago As you can see in the log:
...
[INFO] [1610567071.604805]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1610567071.606776]: Loading controller: force_torque_sensor_controller
[INFO] [1610567071.610747]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1610567071.612684]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
...the following controllers are only loaded: pos_joint_traj_controller, joint_group_vel_controller, while these controllers are loaded and started: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller.
So you have two options:
- start the
pos_joint_traj_controller, or (and this would be better) - change the
namein thecontroller_listof your MoveIt config toscaled_pos_joint_traj_controller
in general you'll want to use the scaled versions of all these controllers (if it exists) as those controllers will take the state of the speed slider (on the TP) and the automatic internal scaling of the UR controller into account.
Schellenberg3
Aishwaryak2998
k-ish0212
puznik
Summary
While trying to use MoveIt! to plan and execute a trajectory, the UR driver raises an error expressing that it
Can't accept new action goals. Controller is not running.However, the
External Controlscript is being run (on the run menu, not through the program menu) and the terminal displaysRobot ready to receive control commands.To resolve some other errors, I've made the following changes:
1) Adjust the file
ur5_e_moveit_config/config/controllers.yamlso that the name is/pos_joint_traj_controller. I followed advice from issue 261. See file below:2) Adjust the file
ur5_e_moveit_config/launch/move_group.launchso that 'MoveGroupExecuteService' is instead 'MoveGroupExecuteTrajectoryAction'. Followed issue 416. See file snippet below:Versions
Issue details
I am running 3 terminal windows related to this. Their commands are:
1)
roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.0.1012)roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch3)roslaunch ur5_e_moveit_config moveit_rviz.launch config:=trueMy process has been as follows: 1) Run terminal 1 2) Start the external control program on
Runtab of the teach pendant 3) Run terminal 2 4) Run terminal 3 5) Use the RVIZ GUI to drag the robot to a new location 6) Pressplanin the RVIZ GUI 7) Pressexecutein the RVIZ GUIAt this point the robot doesn't move and the
Can't accept new action goals. Controller is not running.error appears in terminal 1.I am fairly inexperienced with ROS and I think I've reached the limit of what I can solve on my own or by looking at other peoples issues. Any help to get this robot moving would be appreciate!
I've recorded the output of each terminal below, with notes to identify what is going on.
Terminal 1: ur_robot_driver
Input:
disl@disl-Alienware:~$ roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.0.101Output:The PC connection program is loaded on the
Runtab. The program is played:After pressing
executein the RVIZ GUI:Terminal 2: moveit_planning_execution
What does the setup look like and what are the objectives?
Input:
disl@disl-Alienware:~$ roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launchOutput:The robot plans a trajectory to the new state when the
planbutton is pressed in RVIZ.The following appears when
executeis pressed:Terminal 3: moveit_rviz
What does the setup look like and what are the objectives?
Input:
disl@disl-Alienware:~$ roslaunch ur5_e_moveit_config moveit_rviz.launch config:=trueOutput:The robot appears in the GUI (matches the physical position of the robot) and a trajectory to the new state is planned.
The following appears when
executeis pressed: