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ros-controls / ros_control

Generic and simple controls framework for ROS
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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UR10e can connect the pc,but doesn't move it #465

Open tt2cloud opened 4 years ago

tt2cloud commented 4 years ago

Hi, Dear all, I found a problem,the UR10e can connect the PC,I can see the gesture of ur10e under rviz, but when I use moveit to move it, I find that the real Hardware cannot move, and the error is as follows：

terminal 1:roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=...

SUMMARY

PARAMETERS

NODES / controller_stopper (controller_stopper/node) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master process[master]: started with pid [21219] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 01bf07ae-aead-11ea-8acd-c8d9d21823f2 process[rosout-1]: started with pid [21235] started core service [/rosout] process[robot_state_publisher-2]: started with pid [21252] process[ur_hardware_interface-3]: started with pid [21253] process[ros_control_controller_spawner-4]: started with pid [21254] [ INFO] [1592186868.213219306]: Main thread: SCHED_FIFO OK [ INFO] [1592186868.213276896]: Main thread priority is 99 process[ros_control_stopped_spawner-5]: started with pid [21256] [ INFO] [1592186868.225138723]: Initializing dashboard client process[controller_stopper-6]: started with pid [21289] [ INFO] [1592186868.227471563]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [21317] [ INFO] [1592186868.246475605]: Waiting for controller manager service to come up on /controller_manager/switch_controller [ INFO] [1592186868.247192942]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [ INFO] [1592186868.248888770]: Initializing urdriver [ INFO] [1592186868.249298563]: Checking if calibration data matches connected robot. [ INFO] [1592186868.249780433]: Producer thread: SCHED_FIFO OK [ INFO] [1592186868.249807314]: Thread priority is 99 [INFO] [1592186868.600482]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1592186868.605806]: Controller Spawner: Waiting for service controller_manager/load_controller [ERROR] [1592186868.840918134]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [TODO Link to documentation] for details. [ INFO] [1592186869.342793032]: Producer thread: SCHED_FIFO OK [ INFO] [1592186869.342824734]: Thread priority is 99 [ INFO] [1592186869.345146063]: Setting up RTDE communication with frequency 500.000000 [ INFO] [1592186870.405027445]: Producer thread: SCHED_FIFO OK [ INFO] [1592186870.405110175]: Thread priority is 99 [ INFO] [1592186870.405315922]: Loaded ur_robot_driver hardware_interface [ INFO] [1592186870.478134709]: waitForService: Service [/controller_manager/switch_controller] is now available. [ INFO] [1592186870.478158576]: Service available. [ INFO] [1592186870.478172795]: Waiting for controller list service to come up on /controller_manager/list_controllers [ INFO] [1592186870.478815827]: Service available. [ INFO] [1592186870.653392582]: Robot's safety mode is now NORMAL [ INFO] [1592186870.654137721]: Robot mode is now RUNNING [INFO] [1592186870.725126]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1592186870.726771]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1592186870.728484]: Loading controller: pos_traj_controller [INFO] [1592186870.772901]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1592186870.774659]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1592186870.777078]: Loading controller: joint_state_controller [INFO] [1592186870.791141]: Loading controller: joint_group_vel_controller [INFO] [1592186870.797145]: Loading controller: scaled_pos_traj_controller [INFO] [1592186870.807086]: Controller Spawner: Loaded controllers: pos_traj_controller, joint_group_vel_controller [INFO] [1592186870.865058]: Loading controller: speed_scaling_state_controller [INFO] [1592186870.870794]: Loading controller: force_torque_sensor_controller [INFO] [1592186870.876848]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1592186870.881050]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

terminal 2:roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true

SUMMARY

PARAMETERS

NODES / move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

run_id on parameter server does not match declared run_id: 1a10caa2-aeaa-11ea-8acd-c8d9d21823f2 vs 1ab92c2e-aeaa-11ea-8acd-c8d9d21823f2 The traceback for the exception was written to the log file

terminal 3:roslaunch ur10_e_moveit_config moveit_rviz.launch config:=true

SUMMARY

PARAMETERS

NODES / rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362 (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[rviz_yun_HP_EliteDesk_800_G4_TWR_21226_3920910113555349362-1]: started with pid [21442] [ INFO] [1592186868.939600634]: rviz version 1.12.17 [ INFO] [1592186868.939654642]: compiled against Qt version 5.5.1 [ INFO] [1592186868.939670289]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1592186869.239777248]: Stereo is NOT SUPPORTED [ INFO] [1592186869.239831027]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1592186872.619957201]: Loading robot model 'ur10e'... [ WARN] [1592186872.619998862]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1592186872.620015029]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592186872.665450514]: Loading robot model 'ur10e'... [ WARN] [1592186872.665520289]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world' [ INFO] [1592186872.665543086]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592186872.745662289]: Starting scene monitor [ INFO] [1592186872.750498514]: Listening to '/move_group/monitored_planning_scene' [ INFO] [1592186872.751575959]: waitForService: Service [/get_planning_scene] has not been advertised, waiting... [ INFO] [1592186877.771017975]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.18/planning_scene_monitor/src/planning_scene_monitor.cpp:491 [ INFO] [1592186878.387070246]: Constructing new MoveGroup connection for group 'manipulator' in namespace '' [ WARN] [1592186888.170743535]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch [ INFO] [1592186888.174848967]: Ready to take commands for planning group manipulator. [ INFO] [1592186888.174936096]: Looking around: no [ INFO] [1592186888.174970400]: Replanning: no [ WARN] [1592186888.219657827]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details. [ INFO] [1592186896.486794619]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186897.554862345]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186897.723628495]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186897.888216744]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186898.400788714]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186898.677292720]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186899.191149315]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186899.903129697]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186901.386982485]: Replanning: yes [ INFO] [1592186902.782810630]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186903.865067708]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186905.108830083]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186907.609091666]: Looking around: yes [ INFO] [1592186914.485051143]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186915.356293093]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186915.577693663]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186917.639029757]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186929.123774766]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186930.265397395]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186931.238410735]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186939.893111610]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186941.204564882]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186968.658662198]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186969.758597597]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186970.864241100]: ABORTED: Solution found but controller failed during execution [ INFO] [1592186972.708550601]: ABORTED: Solution found but controller failed during execution 2020-06-15 09-50-00屏幕截图

terminal 4:rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

2020-06-15 09-49-35屏幕截图 Could you help me solved the pronlems, Thank you advance!!@gavanderhoorn @fmauch

tt2cloud commented 4 years ago

Brother, I tested the script file rosrun ur_driver test_move.py today,but I found the real Hardware can't move. 2020-06-17 11-10-41屏幕截图 @gavanderhoorn @fmauch Could you help me, thanks in advance!

bmagyar commented 4 years ago

Sorry but I don't really know why you are posting this issue on ros_control. As far as I can tell you have an issue with the UR drivers.

tt2cloud commented 4 years ago

Sorry but I don't really know why you are posting this issue on ros_control. As far as I can tell you have an issue with the UR drivers.

yeah , I issued this question to [(https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues/200)] thank you, Brother