How do I run husky_manipulation in simulation?

stevensu1838 commented 4 years ago

Hi, ROS Kinetic Ubuntu 16.04 I've been trying to use your great package in simulation. After I run roslaunch husky_ur_bringup husky_ur_bringup.launch, it thow the following errors: Can you please kindly walk me through how to use it in simulation?

user@mech1456:~/catkin_ws$ source devel/setup.bash
user@mech1456:~/catkin_ws$ roslaunch husky_ur_bringup husky_ur_bringup.launch
... logging to /home/user/.ros/log/349131dc-1724-11ea-97a5-a0d3c1150288/roslaunch-mech1456-6136.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mech1456:33647/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /tf2_buffer_server/buffer_size: 120.0
 * /ur_driver/prefix: ur_arm_
 * /ur_driver/robot_ip_address: 192.168.131.40
 * /ur_driver/servoj_time: 0.008

NODES
  /
    tf2_buffer_server (tf2_ros/buffer_server)
    ur_driver (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [6147]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 349131dc-1724-11ea-97a5-a0d3c1150288
process[rosout-1]: started with pid [6160]
started core service [/rosout]
process[ur_driver-2]: started with pid [6168]
process[tf2_buffer_server-3]: started with pid [6178]
[ INFO] [1575525486.263803337]: Setting prefix to ur_arm_
[FATAL] [1575525616.250301327]: Error connecting to get firmware version
terminate called after throwing an instance of 'std::system_error'
  what():  Invalid argument
[ur_driver-2] process has died [pid 6168, exit code -6, cmd /home/user/catkin_ws/devel/lib/ur_modern_driver/ur_driver __name:=ur_driver __log:=/home/user/.ros/log/349131dc-1724-11ea-97a5-a0d3c1150288/ur_driver-2.log].
log file: /home/user/.ros/log/349131dc-1724-11ea-97a5-a0d3c1150288/ur_driver-2*.log

Secondly in your read me, it says In your URDF, make sure to include the husky_manipulation description that you want. For example, if you are using a single UR5, make sure to include the line below in your URDF:

May I please ask what do you mean by saying in your URDF What should be my URDF? Sorry about my dummy questions. Thanks a lot.

dniewinski commented 4 years ago

If you are running in simulation, ur_bringup won't work as it is launching the UR driver, which has no real robot to talk to.

As far as the URDF, that is assuming that you are creating a custom URDF for your robot. If you are doing that, you need to add a similar xacro include line to your URDF to attach the arm(s) in a standard way. If you have no custom URDF, you can set the correct environment variables by sourcing one of the files under scripts

tonybaltovski commented 4 years ago

Closing due to inactivity. Please feel free to re-open if issue persists.

husky / husky_manipulation

How do I run husky_manipulation in simulation? #7