fmauch
commented
1 month ago Thank you for reporting this. We are sorry to hear that things don't work for you, as expected.
However, since your UR is tightly integrated into your system, as you wrote, there is not much we can provide in terms of debugging this without any further information.
As the error says:
[ERROR] [1721070811.674409834]: This controller requires a hardware interface of type 'ur_controllers::ScaledPositionJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class.Also, your parameters say:
/robot/arm/speed_scaling_state_controller/type: ur_controllers/Sp...So, it seems you are loading the controller from the ur_controllers package which does not really exist anymore, as things have been migrated to its own package (which you seem to have checked out in your workspace, though).
Probably (and this is only guessing since I don't know your setup in detail), you'll need to update your controller.yaml file to make it similar to
Mechazo11
Affected ROS Driver version(s)
2.1.5
Used ROS distribution.
Melodic
Which combination of platform is the ROS driver running on.
Linux without realtime patch
How is the UR ROS Driver installed.
Build both the ROS driver and UR Client Library from source
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
5.11
How is the ROS driver used.
Others
Issue details
Summary
Short introduction to the issue and how it impact you and why
Hello,
We have a UR5e mounted on top of a RBKAIROS unit from Robotnik. Due to failure of
scaled_pos_traj_controllerto load and initialize, we cannot send commands to UR5e. We can only see its current state in Rviz via MoveIT.Issue details
Network configurations
The src file contains many different modules. The UR packages are stored as shown
Since Robotnik has tightly integrated the UR5e unit with their mobile base, the method of launching the ur driver is slightly different from the methods described in README.md. Here is the error we are getting in the console. The UR ros driver is launched using the following line
roslaunch summit_xl_bringup arm_complete.launch run_traj_control:=trueThen I follow the steps to turn on a program with the ExternalControl controller in UR5e`s computer via Polyscope. Then a console in RBKAIROS states
Robot ready to receive control commands.Steps to Reproduce
Unfortunately, the system is too complex for a simple example
Expected Behavior
Expected that
speed_scaling_state_controllerwould load correctly and I will be then able to control the arm through MoveITActual Behavior
MoveIT can see the current state of the arm. When any planning and execution is attempted it states failed due to relevant controllers not found.
How do I properly install
scaled_pos_traj_controllerandspeed_scaling_state_controllerso that I can control the arm?Any help in solving this problem will be most appreciated.
Relevant log output
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