I'm using the ur3_moveit_config package from the universal_robot repository from ROS-Industrial. I am getting this error while plannning from Python code ; Group 'ur3_robot' was not found. What should i use in group_name while writing code with moveit_commander?

[rijalmadhav12]

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[rijalmadhav12]

This is my code

!/usr/bin/env python3

import sys import copy import rospy import moveit_commander import moveit_msgs.msg import geometry_msgs.msg from math import pi from std_msgs.msg import String from moveit_commander.conversions import pose_to_list moveit_commander.roscpp_initialize(sys.argv) rospy.init_node('move_group_python_interface_tutorial', anonymous=True) robot = moveit_commander.RobotCommander() scene = moveit_commander.PlanningSceneInterface() group_name = " manipulator" move_group = moveit_commander.MoveGroupCommander(group_name) display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path', moveit_msgs.msg.DisplayTrajectory, queue_size=20) planning_frame = move_group.get_planning_frame() joint_goal = move_group.get_current_joint_values() joint_goal[0] = 0 joint_goal[1] = -pi/4 joint_goal[2] = 0 joint_goal[3] = -pi/2 joint_goal[4] = 0 joint_goal[5] = pi/3 joint_goal[6] = 0 move_group.go(joint_goal, wait=True) move_group.stop()

_My gazebo simulation and rviz are perfect. Terminal 1 roslaunch ur_gazebo ur3_bringup.launch Terminal 2:roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true Terminal 3:roslaunch ur3_moveit_config moveit_rviz.launch config:=true terminal 4: python moveplan.py

I want to plan the motion of ur3 through above python code. When I run above code I get following error_

[ WARN] [1649716953.644637012]: Kinematics solver doesn't support #attempts anymore, but only a timeout. Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration. [FATAL] [1649716953.658731962]: Group 'ur3_robot' was not found. Traceback (most recent call last): File "moveplan.py", line 16, in move_group = moveit_commander.MoveGroupCommander(group_name) File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 66, in init name, robot_description, ns, wait_for_servers RuntimeError: Group 'ur3_robot' was not found.

How should I run this python code. Is there a specefic location where it needs to be kept? What would be the group name? I tried "manipulator' and ;endeffector ' as a group name but it didnt work out. Please help

[AzulRadio]

open ur3_moveit_config with moveit_setup_assistant and in the part where you define the control groups you should be able to find all the group names. ur3_moveit_config/config/ros_controller.yaml might also list them if there is such a file. "endeffector_controller" means the group name is "endeffector" etc.

Also this should be a question for the ROS forum / universal_robot