Robot model not found and cannot get hardware working

[dcross23]

Hi,

im trying to use UR3e robot with RG2 gripper ussing this packages, but I have some questions:

• When I run UR3e_RG2_ER5_moveit_planning_execution.launch, im getting the following error indicating that the robot model cannot be found: [ERROR] [1685607258.022913889]: Robot model parameter not found! Did you remap 'robot_description'? [ERROR] [1685607258.046276720]: Robot model not loaded [ERROR] [1685607258.059803506]: Planning scene not configured

I dont know exactly how to solve this issue, I was trying to find where robot_description should be but all files are there.

• I want to use it with real hardware. Im connecting UR3e with External Control URCap and Universal Robots driver "Universal_Robots_ROS_Driver". Can I run it with this configuration and controll robot arm and gripper from moveit, or I have to use it in a different way to get it working?

Thank you very much

[kbogert]

To get this working as is with the physical robot, you'll need to get the kinetic-devel branch of the universal_robot package (https://github.com/ros-industrial/universal_robot/tree/kinetic-devel) and roslaunch UR3e_RG2_ER5_description ur3e_bringup.launch . If you don't have the RG2 you'll have to remove the relevant parts from UR3e_RG2_ER5_description/urdf/ur3e_with_rg2.urdf.xacro.

However, be aware that this package is designed for our specific work setup and you'll likely need to customize ur3e_bringup.launch to suite your needs.