Not able to execute cartesian trajectory on ABB IRB120

ros-industrial / abb

ROS-Industrial ABB support (http://wiki.ros.org/abb)

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Not able to execute cartesian trajectory on ABB IRB120 #165

Closed tbs845 closed 5 years ago

tbs845 commented 5 years ago

I am using using Ubuntu 16.04, Kinetic distro, ROS ABB experimental and ABB Kinetic-devel repos.

I am trying to get the robot to do a simple Cartesian trajectory. It is working on RViz simulation but the controller is not receiving the trajectory. Therefore the robot is not executing it. It works when I send individual points but not a trajectory.

You can find my node generating the Cartesian path here.

For your reference I have attached a screen shot of the terminal of what the RViz is reporting when I ROS launch my node. screenshot from 2019-01-15 15-12-27

I am not sure what is going on, I am following the tutorials, new to ROS. Any guidance would be much appreciated.

tbs845

gavanderhoorn commented 5 years ago

First: please do not post screenshots of terminal text.

It's just text, so copy-paste it into the issue. Use proper formatting for it then (three backticks before and after).

Two things to check:

why is joint_trajectory_action shutting down? Without that, nothing will move.
which MoveIt launch file are you starting? If it's demo.launch, nothing will move.

Finally:

I am following the tutorials

That's great, but I hope you agree that without you telling us which tutorials you are following exactly, this statement is not going to help us help you.

gavanderhoorn commented 5 years ago

And as this is most likely not an issue with this package, but a configuration/usage issue, I'm going to close this ticket.

That does not mean that we can't continue diagnosing your issue though, so feel free to keep commenting on it.