real ur5 does not move using moveit_planning_execution.launch

[IndustrialEngStudent]

Hi,

I am trying to move the ur5 + Robotiq gripper in a small circle. First I bring up the ur5 + robotiq gripper:

 roslaunch ur_modern_driver ur5_robotiq_2f85_bringup2.launch robot_ip:=192.168.1.151  [reverse_port:=REVERSE_PORT]
... logging to /home/laurah/.ros/log/2b623334-878e-11e9-92dc-8086f2694d08/roslaunch-laurah-HP-EliteBook-840-G1-17016.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.

started roslaunch server http://laurah-HP-EliteBook-840-G1:44949/

SUMMARY
========

PARAMETERS
 * /force_torque_sensor_controller/publish_rate: 125
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /gripper/hardware_control_loop/loop_hz: 125
 * /gripper/hardware_interface/joints: ['gripper_finger1...
 * /gripper/joint_position_controller/action_monitor_rate: 10
 * /gripper/joint_position_controller/constraints/goal_time: 0.6
 * /gripper/joint_position_controller/constraints/simple_gripper_robotiq_85_left_knuckle_joint/goal: 0.01
 * /gripper/joint_position_controller/constraints/simple_gripper_robotiq_85_left_knuckle_joint/trajectory: 0.1
 * /gripper/joint_position_controller/constraints/stopped_velocity_tolerance: 0.05
 * /gripper/joint_position_controller/joint: gripper_finger1_j...
 * /gripper/joint_position_controller/state_publish_rate: 125
 * /gripper/joint_position_controller/stop_trajectory_duration: 0.5
 * /gripper/joint_position_controller/type: position_controll...
 * /gripper/joint_state_controller/publish_rate: 125
 * /gripper/joint_state_controller/type: joint_state_contr...
 * /gripper/joint_trajectory_controller/joint: ['gripper_finger1...
 * /gripper/joint_trajectory_controller/type: position_controll...
 * /hardware_control_loop/loop_hz: 125
 * /hardware_interface/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /pos_based_pos_traj_controller/action_monitor_rate: 10
 * /pos_based_pos_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_based_pos_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /pos_based_pos_traj_controller/constraints/goal_time: 0.6
 * /pos_based_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_based_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /pos_based_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_based_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /pos_based_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_based_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_based_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /pos_based_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_based_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /pos_based_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_based_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /pos_based_pos_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_based_pos_traj_controller/state_publish_rate: 125
 * /pos_based_pos_traj_controller/stop_trajectory_duration: 0.5
 * /pos_based_pos_traj_controller/type: position_controll...
 * /robot_description: <?xml version="1....
 * /robotiq_85_driver/baud: 115200
 * /robotiq_85_driver/comport: /dev/ttyUSB0
 * /robotiq_85_driver/num_grippers: 1
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /ur_driver/base_frame: base
 * /ur_driver/max_joint_difference: 0.01
 * /ur_driver/max_payload: 5.0
 * /ur_driver/max_velocity: 10.0
 * /ur_driver/max_waiting_time: 2.0
 * /ur_driver/min_payload: 0.0
 * /ur_driver/prefix: 
 * /ur_driver/require_activation: Never
 * /ur_driver/reverse_ip_address: 
 * /ur_driver/reverse_port: 50001
 * /ur_driver/robot_ip_address: 192.168.1.151
 * /ur_driver/servoj_gain: 100.0
 * /ur_driver/servoj_lookahead_time: 1.0
 * /ur_driver/servoj_time: 0.008
 * /ur_driver/servoj_time_waiting: 0.001
 * /ur_driver/shutdown_on_disconnect: True
 * /ur_driver/time_interval: 0.008
 * /ur_driver/tool_frame: tool0_controller
 * /ur_driver/use_lowbandwidth_trajectory_follower: False
 * /ur_driver/use_ros_control: False
 * /vel_based_pos_traj_controller/action_monitor_rate: 10
 * /vel_based_pos_traj_controller/constraints/elbow_joint/goal: 0.1
 * /vel_based_pos_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /vel_based_pos_traj_controller/constraints/goal_time: 0.6
 * /vel_based_pos_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /vel_based_pos_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /vel_based_pos_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /vel_based_pos_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /vel_based_pos_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /vel_based_pos_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /vel_based_pos_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /vel_based_pos_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /vel_based_pos_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /vel_based_pos_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /vel_based_pos_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /vel_based_pos_traj_controller/gains/elbow_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/elbow_joint/i: 0.01
 * /vel_based_pos_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/elbow_joint/p: 1.2
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/i: 0.01
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/p: 1.2
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/i: 0.01
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/p: 1.2
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/i: 0.01
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/p: 1.2
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/i: 0.01
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/p: 1.2
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/i: 0.01
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/p: 1.2
 * /vel_based_pos_traj_controller/joints: ['shoulder_pan_jo...
 * /vel_based_pos_traj_controller/state_publish_rate: 125
 * /vel_based_pos_traj_controller/stop_trajectory_duration: 0.5
 * /vel_based_pos_traj_controller/type: velocity_controll...
 * /vel_based_pos_traj_controller/velocity_ff/elbow_joint: 1.0
 * /vel_based_pos_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /vel_based_pos_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /vel_based_pos_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /vel_based_pos_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /vel_based_pos_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    robotiq_85_driver (robotiq_85_driver/robotiq_85_driver)
    ros_control_controller_manager (controller_manager/controller_manager)
    ur_driver (ur_modern_driver/ur_driver)

ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [17036]
process[ur_driver-2]: started with pid [17037]
process[ros_control_controller_manager-3]: started with pid [17039]
process[robotiq_85_driver-4]: started with pid [17050]
[ INFO] [1559742970.192088197]: Setting up connection: 192.168.1.151:30003
[ INFO] [1559742970.193715953]: Connection established for 192.168.1.151:30003
[ INFO] [1559742970.193776817]: Setting up connection: 192.168.1.151:30001
[ INFO] [1559742970.195066480]: Connection established for 192.168.1.151:30001
[ INFO] [1559742970.197062827]: Got VersionMessage:
[ INFO] [1559742970.197100808]: project name: URControl
[ INFO] [1559742970.197116727]: version: 3.9.0
[ INFO] [1559742970.197130296]: build date: 21-02-2019, 15:09:20
[ INFO] [1559742970.197143184]: Disconnecting from 192.168.1.151:30001
[ INFO] [1559742970.210343228]: ActionServer enabled
[ INFO] [1559742970.210560169]: Use standard trajectory follower
[ INFO] [1559742970.213257125]: Setting up connection: :50001
[ INFO] [1559742970.213460507]: Connection established for :50001
[ INFO] [1559742970.213576251]: Initializing ur_driver/URScript subscriber
[ INFO] [1559742970.218433727]: The ur_driver/URScript initialized
[ INFO] [1559742970.218482071]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1559742970.238703477]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1559742970.238764606]: Starting main loop
[ INFO] [1559742970.238990497]: Setting up connection: 192.168.1.151:30003
[ INFO] [1559742970.239082006]: Starting pipeline RTPacket
[ INFO] [1559742970.239216833]: Setting up connection: 192.168.1.151:30002
[ INFO] [1559742970.239299913]: Starting pipeline StatePacket
[ INFO] [1559742970.240570777]: Connection established for 192.168.1.151:30003
[ INFO] [1559742970.240864038]: Connection established for 192.168.1.151:30002
[ INFO] [1559742970.242381435]: Starting ActionServer
[ INFO] [1559742970.242544963]: Trajectory thread started

Then: roslaunch lau_moveit_config ur5_robotiq_2f85_moveit_planning_execution.launch which give me no trouble execpt two warnings: [ WARN] [1559742315.209671241]: Skipping virtual joint 'virtual_joint' because its child frame 'base_link' does not match the URDF frame 'world' ... [ WARN] [1559742489.710331295]: The complete state of the robot is not yet known. Missing gripper_finger1_joint

Then: roslaunch lau_moveit_config moveit_rviz.launch config:=true, which is also not a problem.

Then, I run the script using the move group python interface: " rosrun ur5_notebook motionplanner1LauCircle_gripper.py"

In rviz I see the robot moving as desired. The starting position is the exact position as the real robot is. Thus, I think the connection is working since rviz shows the real state of the robot. However, the real ur5 does not move.

How can I fix this?

[miguelprada]

It's impossible for us to help you with this, since we have no idea of what are the contents of ur5_robotiq_2f85_bringup2.launch or anything in lau_moveit_config or ur5_notebook packages. You need to be much more specific to ask for help.

Since this doesn't seem to be a problem related to this driver, but rather to your application configuration, I will close this issue. Feel free to keep commenting or ask in ROS Answers if you have general questions about configuring a ROS-based application.

[gavanderhoorn]

I would agree with @miguelprada that this issue seems a bit too localised for us to address here: we don't know how you configured things, nor does ur_modern_driver have anything to do with robotiq grippers.

However, if you can reproduce your problem with just the files from this repository, then we can try to see whether we can resolve it.

[nag92]

I am have the same issue with just the vanilla ur_modern_driver and ur_robot packages

[gavanderhoorn]

Please do not comment on closed issues.

Open a new one. If it's really the same issue (which, given that the OP used a custom configuration is not necessarily the case), we'll close the new one as a duplicate and re-open this one.