jmiseikis
commented
7 years ago Hi,
I assume you are using simluated kuka robot in this case? At least I see that in launch file, there were no modifications on using the real robot from UR5 to Kuka. But that shouldn't affect anything if it's just simulation.
I don't see any clear issue, but just a few ideas for you to check:
- One thing you can double check is in the urdf file of kuka robot, whether there is a joint group called "manipulator". From your output it looks like it should be fine, but that's one of the specifics to UR5. This joint group can be called different for other robots.
- You can also try to change this command:
bool success = group.asyncMove();to this:bool success = group.move();It's a blocking version, but that might give you some better feedback. - And as you changed the planning library to IKFast, if I'm not wrong, it has arbitrary tolerance as well as higher position tolerances for the goal pos. Maybe try to increase the distances in cartesian path and see if that changes anything as your starting position might be within (or very close) to allowed pos tolerance of IKFast, so the robot "achieved" the goal before even moving.
Let me know how it goes! And good luck!
mat-l
Hello jmiseikis, with your script I was able to control an UR5 just like you described. After that I wanted to change the script in order to control an kuka lbr iiwa instead. Therefore I adjusted the parts that referred to the UR5 and changed the planning library to IKFast. Now if I start the script an RViz window opens and the kuka robot appears. But it doesn't move. In Terminal I get the message that 50% of the path have been planned and executed and finally that no more planning is needed because the goal state is reached. (I have just one Point for the robot to go to.) A copy of the Terminal Output is at the end. I upload the changed script and launch file too. Even though this has probably nothing to do with your original script I hoped that you maybe have an idea what's missing here. Thank you for your help. iiwa_launch.docx iiwa_script.docx
[ INFO] [1474563147.032958304]: Loading robot model 'iiwa14'... [ INFO] [1474563147.032995442]: No root joint specified. Assuming fixed joint [ INFO] [1474563147.150783791]: IK Using joint iiwa_link_1 -2.93215 2.93215 [ INFO] [1474563147.150810697]: IK Using joint iiwa_link_2 -2.05949 2.05949 [ INFO] [1474563147.150819318]: IK Using joint iiwa_link_3 -2.93215 2.93215 [ INFO] [1474563147.150826352]: IK Using joint iiwa_link_4 -2.05949 2.05949 [ INFO] [1474563147.150835680]: IK Using joint iiwa_link_5 -2.93215 2.93215 [ INFO] [1474563147.150843616]: IK Using joint iiwa_link_6 -2.05949 2.05949 [ INFO] [1474563147.150851008]: IK Using joint iiwa_link_7 -3.01942 3.01942 [ INFO] [1474563147.150863656]: Looking in private handle: /rviz_zema4by3_Default_string_27418_1326795496985699354 for param name: manipulator/position_only_ik [ INFO] [1474563147.151257823]: Looking in private handle: /rviz_zema4by3_Default_string_27418_1326795496985699354 for param name: manipulator/solve_type [ INFO] [1474563147.151603034]: Using solve type Speed [ INFO] [1474563147.392441880]: Starting scene monitor [ INFO] [1474563147.394932564]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1474563147.617221499]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [ INFO] [1474563148.508674959]: Ready to take MoveGroup commands for group manipulator. [ INFO] [1474563148.508784593]: Looking around: no [ INFO] [1474563148.508833431]: Replanning: no [ INFO] [1474563153.419349028]: Loading robot model 'iiwa14'... [ INFO] [1474563153.419483553]: No root joint specified. Assuming fixed joint [ INFO] [1474563153.560051199]: IK Using joint iiwa_link_1 -2.93215 2.93215 [ INFO] [1474563153.560076184]: IK Using joint iiwa_link_2 -2.05949 2.05949 [ INFO] [1474563153.560084259]: IK Using joint iiwa_link_3 -2.93215 2.93215 [ INFO] [1474563153.560093286]: IK Using joint iiwa_link_4 -2.05949 2.05949 [ INFO] [1474563153.560102718]: IK Using joint iiwa_link_5 -2.93215 2.93215 [ INFO] [1474563153.560111494]: IK Using joint iiwa_link_6 -2.05949 2.05949 [ INFO] [1474563153.560119695]: IK Using joint iiwa_link_7 -3.01942 3.01942 [ INFO] [1474563153.560131475]: Looking in private handle: /inf3480_move_robot for param name: manipulator/position_only_ik [ INFO] [1474563153.560516604]: Looking in private handle: /inf3480_move_robot for param name: manipulator/solve_type [ INFO] [1474563153.560864889]: Using solve type Speed [ INFO] [1474563154.411718208]: Ready to take MoveGroup commands for group manipulator. [ INFO] [1474563154.532584924]: Ready to take MoveGroup commands for group manipulator. [ INFO] [1474563154.534788296]: Replanning: yes [ INFO] [1474563156.551381513]: Received request to compute Cartesian path [ INFO] [1474563156.551852582]: Attempting to follow 4 waypoints for link 'iiwa_link_ee' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame) [ INFO] [1474563156.563605329]: Computed Cartesian path with 2 points (followed 25.000000% of requested trajectory) [ INFO] [1474563158.568871082]: Visualizing Cartesian path (25.00% achieved)
[ INFO] [1474563163.570411754]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1474563163.570660599]: Goal constraints are already satisfied. No need to plan or execute any motions