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catmulti7 / dual_ur_ros_2

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trying to use this repo with ur16e #2

Open eladpar opened 1 month ago

eladpar commented 1 month ago

Hey , Thanks for all your work, Ive been trying to use your repo and adjust it to dual robot ur16e, all works fine with the first launch, but trying to execute the remote control program on the ur gets me this : [ur_ros2_control_node-1] [WARN] [1717663371.978900622] [UR_Client_Library:arm_0_]: Received 16 bytes on script command interface. Expecting 4 bytes, so ignoring this message any idea?

catmulti7 commented 1 month ago

Hi @eladpar I'm sorry that I have no experience with UR e-series, and I can't reproduce your issues with docker image since I met some other problem...but first of all, can you make sure your ur_type argument in dual_ur5_moveit_config/launch/ur_moveit.launch.py and ur_robot_driver/launch/dual_ur_control.launch.py is set to 'ur16e' correctly(in this repo these arguments are 'ur5') PS: when I try to reproduce your issue, I use simulated UR e-series docker image, and I found robot will move unexpectedly soon after driver connect to the robot. This shouldn't happen, robot should only move when command is given. I'm not sure what cause this problem. Please be careful if you are using real robot.

catmulti7 commented 1 month ago

@eladpar And check if_use_rtde param in dual_ur5_moveit_config/launch/dual_ur_moveit_planning.launch.py, this should be set to false.
I set this to true for debugging but forgot to trun it back when I push my code :(, sorry for that.

eladpar commented 1 month ago

@eladpar And check if_use_rtde param in dual_ur5_moveit_config/launch/dual_ur_moveit_planning.launch.py, this should be set to false. I set this to true for debugging but forgot to trun it back when I push my code :(, sorry for that.

Thanks for the help! I didn't even get to moveit, I'm still stuck with the driver not coming on properly... I tried shifting and taking only the big launch and putting it into the current ur driver (seems like it changed since you took it) https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues/1016 So you didn't get to a stage where it says failed to load controllers?

Another question can you please write the commit you used from driver and description ur?

catmulti7 commented 1 month ago

Hi @eladpar It's a bit complicated. I try to use your launch file mentioned in issue. And I change description_package param from ur_description to dual_ur_description since I have no ur_description folder in this repo. And I can reproduce your first issue. When press play on teach pendant, it says

[ur_ros2_control_node-1] [WARN] [1717741847.153615750] [UR_Client_Library:arm0]: Received 16 bytes on script command interface. Expecting 4 bytes, so ignoring this message

And I also notice it seems that scaled_joint_trajectory_controller is not working normally.

[ur_ros2_control_node-1] [ERROR] [1717741934.223461509] []: Caught exception in callback for transition 10 [ur_ros2_control_node-1] [ERROR] [1717741934.223468772] []: Original error: map::at [ur_ros2_control_node-1] [WARN] [1717741934.223485263] []: Error occurred while doing error handling. [ur_ros2_control_node-1] [ERROR] [1717741934.223497686] [arm_0.controller_manager]: After configuring, controller 'scaled_joint_trajectory_controller' is in state 'unconfigured' , expected inactive.

As for

[ur_ros2_control_node-13] [ERROR] [1717674177.459959337] [arm_1.controller_manager]: The 'type' param was not defined for 'joint_state_broadcaster'.

I found when I use ur_controllers.yaml, this problem will appear. I think this is caused by not adding controller into correct namespace. using arm_0_ur_controllers.yaml and arm_1_ur_controllers.yaml will slove this problem.

I'll take a further look.

catmulti7 commented 1 month ago

There seems to be two problems

  1. Unmatch data lenth when press play on teach pendant. This problem dosen't exist with Univerisal_Robots_ROS2_Driver.
    I think this problem is ralated to ur_client_library. But after updating ur_client_library and use newest code from Univerisal_Robots_ROS2_Driver (branch humble) I still cannot fix it.
  2. Can't load controller. This problem still occurs when I follow instruction with Univerisal_Robots_ROS2_Driver. Error massage says

[ur_ros2_control_node-1] [ERROR] [1717747691.787720568] []: Caught exception in callback for transition 10 [ur_ros2_control_node-1] [ERROR] [1717747691.787730281] []: Original error: map::at [ur_ros2_control_node-1] [WARN] [1717747691.787746279] []: Error occurred while doing error handling. [ur_ros2_control_node-1] [ERROR] [1717747691.787760103] [controller_manager]: After configuring, controller 'scaled_joint_trajectory_controller' is in state 'unconfigured' , expected inactive.

eladpar commented 1 month ago

Hi @eladpar It's a bit complicated. I try to use your launch file mentioned in issue. And I change description_package param from ur_description to dual_ur_description since I have no ur_description folder in this repo. And I can reproduce your first issue. When press play on teach pendant, it says

[ur_ros2_control_node-1] [WARN] [1717741847.153615750] [UR_Client_Library:arm0]: Received 16 bytes on script command interface. Expecting 4 bytes, so ignoring this message

And I also notice it seems that scaled_joint_trajectory_controller is not working normally.

[ur_ros2_control_node-1] [ERROR] [1717741934.223461509] []: Caught exception in callback for transition 10 [ur_ros2_control_node-1] [ERROR] [1717741934.223468772] []: Original error: map::at [ur_ros2_control_node-1] [WARN] [1717741934.223485263] []: Error occurred while doing error handling. [ur_ros2_control_node-1] [ERROR] [1717741934.223497686] [arm_0.controller_manager]: After configuring, controller 'scaled_joint_trajectory_controller' is in state 'unconfigured' , expected inactive.

As for

[ur_ros2_control_node-13] [ERROR] [1717674177.459959337] [arm_1.controller_manager]: The 'type' param was not defined for 'joint_state_broadcaster'.

I found when I use ur_controllers.yaml, this problem will appear. I think this is caused by not adding controller into correct namespace. using arm_0_ur_controllers.yaml and arm_1_ur_controllers.yaml will slove this problem.

I'll take a further look. Here I t

Hi @eladpar It's a bit complicated. I try to use your launch file mentioned in issue. And I change description_package param from ur_description to dual_ur_description since I have no ur_description folder in this repo. And I can reproduce your first issue. When press play on teach pendant, it says

[ur_ros2_control_node-1] [WARN] [1717741847.153615750] [UR_Client_Library:arm0]: Received 16 bytes on script command interface. Expecting 4 bytes, so ignoring this message

And I also notice it seems that scaled_joint_trajectory_controller is not working normally.

[ur_ros2_control_node-1] [ERROR] [1717741934.223461509] []: Caught exception in callback for transition 10 [ur_ros2_control_node-1] [ERROR] [1717741934.223468772] []: Original error: map::at [ur_ros2_control_node-1] [WARN] [1717741934.223485263] []: Error occurred while doing error handling. [ur_ros2_control_node-1] [ERROR] [1717741934.223497686] [arm_0.controller_manager]: After configuring, controller 'scaled_joint_trajectory_controller' is in state 'unconfigured' , expected inactive.

As for

[ur_ros2_control_node-13] [ERROR] [1717674177.459959337] [arm_1.controller_manager]: The 'type' param was not defined for 'joint_state_broadcaster'.

I found when I use ur_controllers.yaml, this problem will appear. I think this is caused by not adding controller into correct namespace. using arm_0_ur_controllers.yaml and arm_1_ur_controllers.yaml will slove this problem.

I'll take a further look.

I'll try next week to insert these configs https://github.com/catmulti7/dual_ur_ros_2/blob/main/ur_robot_driver/config/arm_0_ur_controllers.yaml might be I inserted ur_controllers by mistake