No transform available between frame 'tool0_controller' and planning frame '/world' ()

[baifanxxx]

Hi, I have a problem about UR3 on compute Cartesian path.

my configration is: Ubuntu 16.04, ROS kinetic, UR3, ros-industrial/universal_robot + ur_modern_driver.

If I use
(plan, fraction) = group.compute_cartesian_path( waypoints,0.01, 0.0, True) to compute Cartesian path. There are some erro like this:

[ INFO] [1631799290.770572209]: Received request to compute Cartesian path [ WARN] [1631799290.770594171]: No transform available between frame 'tool0_controller' and planning frame '/world' () [ERROR] [1631799290.770637100]: TF Problem: "world" passed to lookupTransform argument target_frame does not exist. [ERROR] [1631799290.770649077]: Error encountered transforming waypoints to frame '/world'

I think it maybe something wrong on UR3 URDF model. However, I can successfully use

  group.go(joint_goal, wait=True)

and

group.set_start_state_to_current_state()
group.set_pose_target(target_pose, end_effector_link)
traj = group.plan()
group.execute(traj)
rospy.sleep(1)
group.go()

This is my config:

rospy.init_node('ipm_detection',anonymous=True)
moveit_commander.roscpp_initialize(sys.argv)
group = moveit_commander.MoveGroupCommander('manipulator')

# Create a goal to send (to the action server)
goal = control_msgs.msg.GripperCommandGoal()

robot_commander = moveit_commander.RobotCommander()

end_effector_link = group.get_end_effector_link()
reference_frame = 'base_link'
group.set_pose_reference_frame(reference_frame)

group.allow_replanning(True)

group.set_goal_position_tolerance(0.0001)
group.set_goal_orientation_tolerance(0.001)
group.set_max_acceleration_scaling_factor(0.05)
group.set_max_velocity_scaling_factor(0.05)

I guess this may not be my own problem, but the urdf file in the package or the controller. So I hope everyone or official maintainers to help me. The matter is urgent, and I desperately need your help. grateful.

Thank you!

[gavanderhoorn]

Ubuntu 16.04, ROS kinetic, UR3, ros-industrial/universal_robot + ur_modern_driver.

Unfortunately we don't support UR3s + ur_modern_driver.

You should really use UniversalRobots/Universal_Robots_ROS_Driver for that robot.

[gavanderhoorn]

Also: please don't cross-post to multiple issue trackers.