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ros-industrial / universal_robot

ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
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"Waiting for /follow_joint_trajectory to come up" and "Action client not connected" #294

Closed jkwang1992 closed 7 years ago

jkwang1992 commented 7 years ago

I try to use gazebo simulation with ur3( ROS Kinetic,Ubuntu 16.04, ur_modern_driver, Gazebo 7 ), but I meet some problems as follows:

[ INFO] [1489997728.462448878, 756.472000000]: Waiting for /follow_joint_trajectory to come up
[ INFO] [1489997733.475260715, 761.472000000]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1489997738.491130260, 766.472000000]: Action client not connected: /follow_joint_trajectory
[ INFO] [1489997738.547350281, 766.527000000]: Returned 0 controllers in list
[ INFO] [1489997738.585389624, 766.562000000]: Trajectory execution is managing controllers

I wonder that we should add the driver into the ur3_moveit_planning_execution.launch ?

gavanderhoorn commented 7 years ago

The driver is not used when simulating everything using Gazebo.

Two things to check:

  1. did you follow the instructions in the readme?
  2. do you have gazebo_ros_control installed?
jkwang1992 commented 7 years ago

@gavanderhoorn I have installed ros-kinetic-gazebo-ros-control, and I followed the instructions as follows:

roslaunch ur_gazebo ur3.launch limited:=true
roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur3_moveit_config moveit_rviz.launch config:=true

In addition, I can test on real robot(UR3) successfully. I found when I launched ur3.launch, there were topics as follows:

/arm_controller/command
/calibrated
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/rosout
/rosout_agg
/tf
/tf_static

But when I launched ur_modern_driver ur_bringup.lanuch, there were topics as follows:

/follow_joint_trajectory/cancel
/follow_joint_trajectory/feedback
/follow_joint_trajectory/goal
/follow_joint_trajectory/result
/follow_joint_trajectory/status
/joint_states
/rosout
/rosout_agg
/tf
/tf_static
/tool_velocity
/ur_driver/URScript
/ur_driver/io_states
/ur_driver/joint_speed
/wrench

So I am afraid th topic follow_joint_trajectory may be lost.

gavanderhoorn commented 7 years ago

This most likely just means that you have something not installed.

Can you check you have ros-kinetic-joint-trajectory-controller installed?

Also: check your console output to make sure that nothing reports errors or warnings.

How did you install / build the packages? Did you run rosdep install --from-paths /path/to/where/universal_robot/pkgs/are --ignore-src before trying to run things?

jkwang1992 commented 7 years ago

When I run rosdep install --from-paths /path/to/where/universal_robot/pkgs/are --ignore-src for pkgs ur_gazebo, it reminds me to install ros-kinetic-ros-controllers and I have installed it and run the command for pkgs ur3_moveit_config and it reminds me nothing to install. And I have also installed ros-kinetic-joint-trajectory-controller, but the same problem still exists. Could you provide me an email address so that I can send you the source code if you have free time to read ? My email address is in my Github homepage. Thank you very much.

gavanderhoorn commented 7 years ago

Could you provide me an email address so that I can send you the source code if you have free time to read ? My email address is in my Github homepage. Thank you very much.

no, that's not how this works.

When I run rosdep install --from-paths /path/to/where/universal_robot/pkgs/are --ignore-src for pkgs ur_gazebo, it reminds me to install ros-kinetic-ros-controllers and I have installed it and run the command for pkgs ur3_moveit_config and it reminds me nothing to install. And I have also installed ros-kinetic-joint-trajectory-controller, but the same problem still exists.

Please just run rosdep install .. for your entire workspace, or at least for the top-level universal_robot folder in your workspace.

jkwang1992 commented 7 years ago 
jiankun@jiankun:~$ rosdep install --from-paths ~/catkin_modern/src/universal_robot-kinetic-devel --ignore-src
#All required rosdeps installed successfully

jiankun@jiankun:~$ rosdep install --from-paths  ~/catkin_modern --ignore-src
#All required rosdeps installed successfully

Before the command, I just remove the directory ur_bringup because I use ur_modern_driver then ur_bringup is not needed any more. But the problem is not solved.

gavanderhoorn commented 7 years ago

How did you install ROS? From .debs, or from sources? Is the Gazebo version you have the one 'packaged' by ROS, or did you install it using the instructions on gazebosim.org?

Basically the problem is that the Action server that exposes the FollowJointTrajectory action is not running. That either means that gazebo_ros_control is not installed (for your particular version of Gazebo) or one of the plugins cannot be found (again: by Gazebo).

Can you copy-paste the entire console output of a run of roslaunch ur_gazebo ur3.launch limited:=true?

jkwang1992 commented 7 years ago 
jiankun@jiankun:~$ roslaunch ur_gazebo ur3.launch limited:=true
... logging to /home/jiankun/.ros/log/9a4ee926-0d57-11e7-a66e-208984d70fef/roslaunch-jiankun-9855.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global property: pi
when processing file: /home/jiankun/catkin_modern/src/universal_robot-kinetic-devel/ur_description/urdf/ur3.urdf.xacro
included from: /home/jiankun/catkin_modern/src/universal_robot-kinetic-devel/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro
started roslaunch server http://jiankun:41353/

SUMMARY
========

PARAMETERS
 * /arm_controller/action_monitor_rate: 10
 * /arm_controller/constraints/elbow_joint/goal: 0.1
 * /arm_controller/constraints/elbow_joint/trajectory: 0.1
 * /arm_controller/constraints/goal_time: 0.6
 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05
 * /arm_controller/constraints/wrist_1_joint/goal: 0.1
 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /arm_controller/constraints/wrist_2_joint/goal: 0.1
 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /arm_controller/constraints/wrist_3_joint/goal: 0.1
 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /arm_controller/joints: ['shoulder_pan_jo...
 * /arm_controller/state_publish_rate: 25
 * /arm_controller/stop_trajectory_duration: 0.5
 * /arm_controller/type: position_controll...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.6
 * /use_sim_time: True

NODES
  /
    arm_controller_spawner (controller_manager/controller_manager)
    fake_joint_calibration (rostopic/rostopic)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_controller_spawner (controller_manager/controller_manager)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [9869]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9a4ee926-0d57-11e7-a66e-208984d70fef
process[rosout-1]: started with pid [9882]
started core service [/rosout]
process[gazebo-2]: started with pid [9900]
process[gazebo_gui-3]: started with pid [9911]
process[spawn_gazebo_model-4]: started with pid [9916]
process[robot_state_publisher-5]: started with pid [9917]
process[fake_joint_calibration-6]: started with pid [9918]
process[joint_state_controller_spawner-7]: started with pid [9928]
process[arm_controller_spawner-8]: started with pid [9943]
SpawnModel script started
[INFO] [1490005557.888684, 0.000000]: Loading model XML from ros parameter
[INFO] [1490005557.894534, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1490005557.945411013]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1490005557.951461817]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1490005558.455026370, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[INFO] [1490005558.501680, 0.067000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1490005558.511134883, 0.076000000]: Physics dynamic reconfigure ready.
[INFO] [1490005558.694283, 0.126000]: Spawn status: SpawnModel: Successfully spawned model
[ INFO] [1490005558.826759903, 0.126000000]: Loading gazebo_ros_control plugin
[ INFO] [1490005558.826933143, 0.126000000]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1490005558.828593700, 0.126000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/jiankun/.ros/log/9a4ee926-0d57-11e7-a66e-208984d70fef/spawn_gazebo_model-4*.log
[ INFO] [1490005559.008405435, 0.126000000]: Loaded gazebo_ros_control.
Loaded joint_state_controller
Started ['joint_state_controller'] successfully
[joint_state_controller_spawner-7] process has finished cleanly
log file: /home/jiankun/.ros/log/9a4ee926-0d57-11e7-a66e-208984d70fef/joint_state_controller_spawner-7*.log
Loaded arm_controller
Started ['arm_controller'] successfully
[arm_controller_spawner-8] process has finished cleanly
log file: /home/jiankun/.ros/log/9a4ee926-0d57-11e7-a66e-208984d70fef/arm_controller_spawner-8*.log
gavanderhoorn commented 7 years ago

I've just installed universal_robot in a clean Kinetic Docker container, then started:

$ roslaunch ur_gazebo ur3_joint_limited.launch

a rostopic list gives me:

/arm_controller/command
/arm_controller/follow_joint_trajectory/cancel
/arm_controller/follow_joint_trajectory/feedback
/arm_controller/follow_joint_trajectory/goal
/arm_controller/follow_joint_trajectory/result
/arm_controller/follow_joint_trajectory/status
/arm_controller/state
/calibrated
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/joint_states
/rosout
/rosout_agg
/tf
/tf_static

This would seem to be all expected and required topics, including the action server.

Steps I used to setup my workspace:

$ mkdir -p /tmp/ws/src
$ cd /tmp/ws/src
$ git clone https://github.com/ros-industrial/universal_robot.git
$ cd /tmp/ws
$ rosdep update
$ rosdep install --from-paths src --ignore-src
$ catkin_make
$ source devel/setup.bash

At this point I start roslaunch ur_gazebo ur3_joint_limited.launch.

Can you try the above steps in a clean terminal (no workspace setup.bash sourced) and a clean workspace?

jkwang1992 commented 7 years ago

WOW! Thank you very much. According to your suggestion, now the real robot and gazebo simulation can work well separately. I think my problem is about the link between ROS and gazebo. Because originally I installed ROS Kinetic and gazebo7 separately, then I installed some pkgs such as you mentioned above. So maybe there is something lost about the link between ros and gazebo. And now I install ros using the recommended method sudo apt-get install ros-kinetic-desktop-full, then the problem disappear. Thanks again for your help. I am very interested in ROS-Industrial and I am a PhD student managing robot control and trajectory planning in the Chinese University of Hong Kong. I hope that I can go to Delft University of Technology for an intern or exchange to study the robot knowledge if possible in the future. So I wonder if there is any position?

gavanderhoorn commented 7 years ago

Good to hear you got it to work. Can you please close the issue if you feel it has been resolved?

re: internships: at the moment we don't have any open positions, but you can always try at a later time.

jkwang1992 commented 7 years ago

OK.I will close it. By the way, could you give me an email address or website where I can follow the latest information about internships?