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ros-industrial / 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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Problems with moving ur10 through moveit/Rviz #294

Closed JanTromp closed 5 years ago

JanTromp commented 5 years ago

Hi, I had some issues with getting the ur_modern_driver package to succeed when i "catkin build". This problem was fixed as far as my knowledge (thee this issue #293)

So the problem was solved but when i moved the ur So now i tried moving my ur10 with the updated packages but i'm experiencing some disturbing issues:

First of all (a not so disturbing issue): When i open rviz to move the robot i perform the command roslaunch ur10_moveit_config moveit_rviz.launch config:=true (as stated in the ur_modern_driver usage) Rviz opens but i dont have the interactive markers to move the robot around.

No_interactive_markers_ur10_rviz

Second (and more concerning): when i move plan a path to go from the current position to the predefined "up" position, the planning goes well and it shows me a nice path. Then when i press execute the robot is moving through the "up" position and continues to move to a unknown position. Until i have to press the emergency stop since the robot will crash into itself.

I don't know if this problem is due to the ur_modern_driver package, universal_robot package or something in moveit or rviz.

martimorta-at-work commented 5 years ago

Hi Jan, Your answer for the second question is in this post https://github.com/ros-industrial/ur_modern_driver/pull/216#pullrequestreview-170898136 For the first question, please do the MoveIt tutorials (after the ROS ones), the answer here https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#step-2-play-with-the-visualized-robots

Please use one issue per question and before posting a new one search for similar issues or use ROS answers

Regards

JanTromp commented 5 years ago

update: I noticed the interactive marker thing was caused by me being stupid and launching the same launch file twice :P When i launched all the necessary files only once the markers showed and i was able to move the robot using the markers. So this is FIXED

As for the second problem. When i moved the robot to any position other than the up position it worked fine. So i think the joint angles of the up position aren't correct or something. Not something to worry about because i won't be using this position.

As for your comment "Please use one issue per question and before posting a new one search for similar issues or use ROS answers" The reason i asked both questions in the same post is because i thought they would be related to eachother, so asking them seperatly wouldn't show the connection to you guys.

Anyways, thanks for you help!

gavanderhoorn commented 5 years ago

As for the second problem. When i moved the robot to any position other than the up position it worked fine. So i think the joint angles of the up position aren't correct or something

At what setting do you have the speed slider set on the TP?

JanTromp commented 5 years ago

As for the second problem. When i moved the robot to any position other than the up position it worked fine. So i think the joint angles of the up position aren't correct or something

At what setting do you have the speed slider set on the TP?

The slider on the teach pendant is set to 100%