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moveit / panda_moveit_config

The Panda robot is the flagship MoveIt integration robot
http://docs.ros.org/kinetic/api/moveit_tutorials/html/
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How to control a real franka robot arm? #115

Closed Franka-Med closed 2 years ago

Franka-Med commented 2 years ago

I want to use moveit to control a real franka robot arm. I try changing the value of fake_execution to false in demo.launch, but it doesn't work. and terminal shows "Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory".

What should I do? Thank you very much.

rhaschke commented 2 years ago

Obviously, you need to start your robot hardware controllers. In branch noetic-devel an example launch file exists to do so: franka_control.launch

Franka-Med commented 2 years ago

Obviously, you need to start your robot hardware controllers. In branch noetic-devel an example launch file exists to do so: franka_control.launch

Thank you very much!!! It works. Now moveit can successfully drive the real robot arm.

cnaes93 commented 2 years ago

Hi, I want to do the same thing, control the real robot with moveit. I changed the moveit_controller_manger to ros_control and also fake_execution to false but the real robot still does not follow the simulation path. which oder things should I change to make the real robot move? thanks

rhaschke commented 2 years ago

@cnaes93, please provide detailed info how you launch the robot and MoveIt. As said above, it should suffice to use roslaunch panda_moveit_config franka_control.launch using the latest releases of panda_moveit_config and franka_ros in ROS Noetic. If that doesn't work, please check the error messages on the console. They provide useful hints.

cnaes93 commented 2 years ago

@rhaschke , first of all I copied the panda_control_moveit_rviz.launch from github in the folder panda_moveit_config, because there is no such files in noetic version of moveit. then I changed the fake controller in roscontrol as mentioned above and launch it. I also tried to launched the franka_control as you said, but it can not find the source of franka_control. ( I also sourced it like: source ~/ws_moveit/devel/setup.bash ) (I added in the~/.bashrc the following sources: source /opt/ros/noetic/setup.bash source ~/catkin_ws/devel/setup.bash source ~/ws_moveit/devel/setup.bash image image How can I define the source-files to it and solve the problem?

Franka-Med commented 2 years ago

@cnaes93 Here is the link to the ROS Noetie, you should download this and try again https://github.com/ros-planning/panda_moveit_config/tree/noetic-devel

rhaschke commented 2 years ago

Did you install the debian package ros-noetic-franka-control? That's needed for your real robot!

cnaes93 commented 2 years ago

I installed the debian Package as well (I followed all the installations steps as mentioned in moveit noetic). One time i did catkin clean --deinit my home directory since then it could not find any Libraries or packages. I reinstalled after that all ROS, libfranka, franka_ros and moveit but it did not solve the problem! Do you think its because of this or something else?

rhaschke commented 2 years ago

Obviously, the package franka_control is not found. Hence, I can only conclude that you didn't install it. Search for it in /opt/ros/noetic to confirm: find /opt/ros/noetic -iname franka_control.

cnaes93 commented 2 years ago

Thanks. The franka-control was not installed I don't know how but I installed it with: sudo apt install ros-noetic-franka-control and it works now. Thanks.