Open PedroMoreo opened 2 months ago
sea-bass
commented
2 months ago As the log message suggests, did you create a kinematics.yaml file? See here as an example https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_moveit_config/config/kinematics.yaml
The Setup Assistant does not automate this part, to the best of my knowledge.
rhaschke
commented
2 months ago The Setup Assistant does not automate this part, to the best of my knowledge.
It does. I think you are missing the kinematics parameter config in your hello_moveit_ur_launch.py launch file.
See ur_moveit.launch.py for an example.
sea-bass
commented
2 months ago Thanks for the correction. I guess the best of my knowledge didn't have much "best" to it 🤣
PedroMoreo
commented
2 months ago Thanks a lof for your anwser.
I had the same thought, the problem was in the kinematics_param (as you can see, it is using default_kinematics.yaml, I didn't change it). Although I was pretty sure the kinematics_params was inside the robot_description_content and this inside the robot_description. Between the millions tries I did, I think tried something similar
Nonetheless now if tried this:
def generate_launch_description():
# generate_common_hybrid_launch_description() returns a list of nodes to launch
robot_description = get_robot_description()
robot_description_semantic = get_robot_description_semantic()
demo_node = Node(
package="hello_moveit_ur",
executable="hello_moveit_ur",
name="hello_moveit_ur",
output="screen",
parameters=[
robot_description,
robot_description_semantic,
kinematics_params, # add this
],
)
The result is this:
ros2 launch hello_moveit_ur hello_moveit_ur_launch.py
[INFO] [launch]: All log files can be found below /home/pedro/.ros/log/2024-08-29-12-09-49-859276-pedro-B650-AORUS-ELITE-AX-14030
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:
- NameError: name 'kinematics_params' is not defined
- InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown
Just adding the kinematics_params give an syntax error. So I tried adding a new path:
This is the complete new launch file hello_moveit_ur_launch_k.py
import launch
import os
import sys
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node
from launch.substitutions import PathJoinSubstitution, Command, FindExecutable
from launch_ros.substitutions import FindPackageShare
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
def get_robot_description():
joint_limit_params = PathJoinSubstitution(
[FindPackageShare("ur_description"), "config", "ur3e", "joint_limits.yaml"]
)
kinematics_params = PathJoinSubstitution(
[FindPackageShare("ur_description"), "config", "ur3e", "default_kinematics.yaml"]
)
physical_params = PathJoinSubstitution(
[FindPackageShare("ur_description"), "config", "ur3e", "physical_parameters.yaml"]
)
visual_params = PathJoinSubstitution(
[FindPackageShare("ur_description"), "config", "ur3e", "visual_parameters.yaml"]
)
robot_description_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution([FindPackageShare("ur_description"), "urdf", "ur.urdf.xacro"]),
" ",
"robot_ip:=172.17.0.2",
" ",
"joint_limit_params:=",
joint_limit_params,
" ",
"kinematics_params:=",
kinematics_params,
" ",
"physical_params:=",
physical_params,
" ",
"visual_params:=",
visual_params,
" ",
"safety_limits:=",
"true",
" ",
"safety_pos_margin:=",
"0.15",
" ",
"safety_k_position:=",
"20",
" ",
"name:=",
"ur",
" ",
"ur_type:=",
"ur3e",
" ",
"prefix:=",
'""',
" ",
]
)
robot_description = {"robot_description": robot_description_content}
return robot_description
def get_robot_description_semantic():
# MoveIt Configuration
robot_description_semantic_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution([FindPackageShare("ur_moveit_config"), "srdf", "ur.srdf.xacro"]),
" ",
"name:=",
# Also ur_type parameter could be used but then the planning group names in yaml
# configs has to be updated!
"ur",
" ",
"prefix:=",
'""',
" ",
]
)
robot_description_semantic = {
"robot_description_semantic": robot_description_semantic_content
}
return robot_description_semantic
def generate_launch_description():
# Declare the launch argument for the config directory
config_dir_arg = DeclareLaunchArgument(
'config_dir',
default_value=os.path.join(get_package_share_directory('ur_moveit_config'), 'config'),
description='Directory for config files'
)
# Load robot description
robot_description = get_robot_description()
robot_description_semantic = get_robot_description_semantic()
# Load Kinematics file
kinematics_yaml = LaunchConfiguration('config_dir')
kinematics_yaml_path = PathJoinSubstitution([kinematics_yaml, 'kinematics.yaml'])
demo_node = Node(
package="hello_moveit_ur",
executable="hello_moveit_ur",
name="hello_moveit_ur",
output="screen",
parameters=[
robot_description,
robot_description_semantic,
kinematics_yaml_path,
],
)
return launch.LaunchDescription([
config_dir_arg,
demo_node
])
The result of this is, ROS2 does not complain about the kinematics but the arm still does not move, also the program does not, it keeps 'waiting' :
ros2 launch hello_moveit_ur3e hello_moveit_ur_launch_k.py
[INFO] [launch]: All log files can be found below /home/pedro/.ros/log/2024-08-29-12-37-10-990719-pedro-B650-AORUS-ELITE-AX-15874
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hello_moveit_ur-1]: process started with pid [15877]
[hello_moveit_ur-1] [INFO] [1724927831.219396973] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00265791 seconds
[hello_moveit_ur-1] [INFO] [1724927831.219427020] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[hello_moveit_ur-1] [INFO] [1724927831.219434995] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed jointI am not sure if the problem could be in the SRDF. I hope that helps.
Thanks a lot.
rhaschke
commented
2 months ago I think you managed to load the kinematics parameters now, although you didn't follow the suggested example, which is much simpler. I cannot help much with the remaining issue, as I have no idea about the purpose of hello_moveit_ur. I suggest adding some prints to understand where the program hangs.
PedroMoreo
commented
2 months ago Hi Sorry, I think I was not very clear in the previous explanation of the problem. I don't have much experience in ROS2 yet.
I was just following this tutorial https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html (hello_moveit). The purpose is just to move the robot to a point. This tutorial is configured for PANDA. I need to change it for ur5e (ur3e would work too). But I couldn't change it. This tutorial just runs a file(using run command), it does not use a launch file ( example.launch.py).
According to this forum https://answers.ros.org/question/408096/using-universal-robot-instead-of-pandas-arm-in-moveit2-tutorial/ (it is the same question here https://forum.universal-robots.com/t/move-ur-with-a-moveit2-script/24497) the solution needs to be done through a launch file. The complete files are in : GitHub - LucaBross/simple_moveit2_universal_robots_movement But I couldn't run this project. So this is the problem I have, looks like I am trying the regular examples, but for some reason I can't make it work. I hope this helps.
Thanks a lot.
nachoorp
commented
1 month ago Hello @PedroMoreo, just started my master thesis and trying to do exactly the same here in the UPM, did you managed to move the robot into a desired point? Im quite new to ros so any info can be helpful, thanks in advance!
PedroMoreo
commented
4 weeks ago Hello @nachoorp , yes we did, but for the moment we have errors in the orientation. You can follow all the steps I did in the next link
I hope it helps
Description
My name is Pedro, working for the University of Granada lab. We are trying to move a Universal Robot arm and we want to move it through URSIM beforehand. To do this we are trying to adapt the hello_moveit_ur project (configured for panda) https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html to ur5e or ur3e.
In this project they explain how to make a launch file for this purpose: https://github.com/LucaBross/simple_moveit2_universal_robots_movement/blob/main/README.md But I cannot make it works
Your environment
Steps to reproduce
According to the README provided for Luca Bross in the same github mentioned before:
Shell 1: run the driver
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=172.17.0.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller to connect to the Universal Robot.Start the external control urcap on the UR to allow external control (172.17.0.2 ) whose answer is :
Shell 2: run the moveit controller
whose anser is :
Shell 3: launch the program hello Start the hello_moveit_ur file with a launchfile
ros2 launch hello_moveit_ur hello_moveit_ur_launch.py.whose anser is:Expected behaviour
The robot to move in the UR SIM, to the selected point.
Actual behaviour
It gives a warning about the kinematics and keep waiting.
Thanks a lot.