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cambel / ur3

ROS-based UR3/UR3e controller with simulation in Gazebo. Adaptable to other UR robots
MIT License
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Timed out waiting for /wrench/ topic #21

Closed erenerdal closed 2 years ago

erenerdal commented 2 years ago

after running this script

rosrun ur_control sim_controller_examples.py -m

I am always getting the following error:

Import ur_ikfast not available, IKFAST would not be supported without it ft_sensor: True, ee_link: None, robot_urdf: ur3e [ WARN] [1642677431.911925953]: link 'robotiq_coupler' material 'flat_black' undefined. [ WARN] [1642677431.911953314]: link 'robotiq_coupler' material 'flat_black' undefined. [ WARN] [1642677431.913863821]: link 'robotiq_coupler' material 'flat_black' undefined. [ WARN] [1642677431.913881508]: link 'robotiq_coupler' material 'flat_black' undefined. connecting to: /scaled_pos_joint_traj_controller/command [INFO] [1642677432.433762, 3.823000]: JointTrajectoryController initialized. ns: / [INFO] [1642677433.019245, 3.844000]: GripperCommandAction initialized. ns: / publish filtered wrench: /wrench/filtered [ERROR] [1642677436.037885, 3.961000]: Timed out waiting for /wrench/ topic Traceback (most recent call last): File "/hh_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 291, in main() File "/hh_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 261, in main arm = Arm( File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 108, in init self._init_ft_sensor() File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 170, in _init_ft_sensor self.set_wrench_offset(override=False) File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 243, in set_wrench_offset self._update_wrench_offset() File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 174, in _update_wrench_offset self.wrench_offset = self.get_filtered_ft().tolist() File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 229, in get_filtered_ft ft = [ File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 230, in ft[i] if abs(ft[i]) < ft_limitter[i] else ft_limitter[i] TypeError: 'NoneType' object is not subscriptable

Do you have any idea? Indeed, I can move the robot with the keybord using this script: rosrun ur_control joint_position_keyboard.py

cambel commented 2 years ago

Hi, glad you could solve the previous issue.

This one I know. When you the define the Arm, you can expect the force torque sensor data to be available by setting the ft_sensor flag. Please see the line 261 in sim_controller_examples.py If you are using Gazebo it should still work with the ft_sensor on, but for now try setting it as false and trying without it. I'll check later why it does not work with the sensor.

cambel commented 2 years ago

See solution in #22