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cambel / ur3

ROS-based UR3/UR3e controller with simulation in Gazebo. Adaptable to other UR robots
MIT License
135 stars 43 forks source link

roslaunch ur3_gazebo ur3_cubes.launch grasp_plugin:=1 #8

Closed huaji98 closed 3 years ago

huaji98 commented 3 years ago

error loading tag: file does not exist [/home/user/ros_ws/src/robotiq/robotiq_control/config/gripper_85_controller.yaml] XML is The traceback for the exception was written to the log file

cambel commented 3 years ago

Hi @huaji98 ,

Are you using the Docker environment or did you install the repository manually?

If it's the latter, make sure that the docker package robotiq is in your ros_ws/src directory. It should have been installed in this step rosinstall ~/ros_ws/src /opt/ros/kinetic src/ur3/dependencies.rosinstall

huaji98 commented 3 years ago

Thank you for your reply, I checked the robotiq package, but no gripper_85_controller.yaml there

cambel commented 3 years ago

@huaji98 Hi,

Yeah, you are right, sorry about that, I haven't used the kinetic branch (master) in a while, so I forgot to update it.

If you update the robotiq repository it should work.

Let me know if you have any other problem

huaji98 commented 3 years ago

rosrun ur_control sim_controller_examples.py -m Traceback (most recent call last): File "/home/user/ros_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 4, in from ur_control.arm import Arm File "/home/user/ros_ws/src/ur3/ur_control/src/ur_control/arm.py", line 22, in from ur_pykdl import ur_kinematics File "/home/user/ros_ws/devel/lib/python2.7/dist-packages/ur_pykdl/init.py", line 34, in exec(__fh.read()) File "", line 29, in File "/home/user/ros_ws/src/ur3/ur_pykdl/src/ur_pykdl/ur_pykdl.py", line 38, in from ur_kdl.kdl_parser import kdl_tree_from_urdf_model File "/home/user/ros_ws/src/ur3/ur_pykdl/src/ur_kdl/init.py", line 1, in from .kdl_parser import ( File "/home/user/ros_ws/src/ur3/ur_pykdl/src/ur_kdl/kdl_parser.py", line 146 print("URDF non-fixed joints: %d;" % num_non_fixed_joints, end=' ') ^ SyntaxError: invalid syntax

cambel commented 3 years ago

Umm the problem is that the Kinematics library ur_pykdl does not support Python 2 anymore.

I strongly recommend you to use python 3. You can use the Dockerfile as an example to either set up your local machine or use Docker directly.

Sorry!

huaji98 commented 3 years ago

Thank you!!!