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ros-industrial-attic / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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fail to control real UR5 #248

Closed nashdingsheng closed 5 years ago

nashdingsheng commented 5 years ago

hi， i can not move the real UR5 robot , i believe i have connected to the robot and can derive the joint_stataes timely by topic /joint_states, the main working environment:

after i git and catkin_make the related packages（-b kinetic-devel ur_modern_driver, -b kinetic-devel universal_robot), then I do :

  1. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.1.22（my ur5 robot ip）
  2. ./test_move.py （brought from kinetic-devel branch）

the robot does not move as the test_move.py intends to move.

and i do as the readme suggested :

  1. roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.1.22（my ur5 robot ip）
  2. roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch
  3. roslaunch ur5_moveit_config moveit_rviz.launch config:=true

RIVZ can timely show the change of the robots states that i use VNC tool to login in the robot to control, and i drag the coordinate system to a new place in RVIZ and press "plan and execute", the robot does not move as well.

I do not know what happened for this phenomenon ,and i also intend to repair as the suggestion for the similar problem suggested，could somebody please give me some advice,thank you.

gavanderhoorn commented 5 years ago

I'm not saying this cannot work, but I see the following in your description:

Those are all complicating factors, and don't help debugging.

Right now I would guess your VMWare is using a NATted virtual network which only allows outgoing connections by default. The driver needs to create a connection from the robot to the driver node in order to receive trajectory points. If that connection doesn't work, the robot won't move, even though JointState messages are being published.

First thing to try: configure VMWare to use a bridged network connection.

gavanderhoorn commented 5 years ago

As this is (most likely) not an issue with the package in this repository I'm closing this issue.

Feel free to keep commenting on it though @nashdingsheng.

nashdingsheng commented 5 years ago

gavanderhoon, thank you very much, today i attempt to change the network configuration to bridge network and ur5 is in control now. i was not in office but at home welcoming my first new baby over the past one week and reply you until today,thank you very much for your help.

gavanderhoorn commented 5 years ago

No problem.

Good to hear you got it to work.

As an alternative to bridged networking, you could also configure the NAT NIC to forward tcp://:50001 to the IP of your ROS VM.