Closed IndustrialEngStudent closed 5 years ago
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.
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.
I am have the same issue with just the vanilla ur_modern_driver and ur_robot packages
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.
Hi,
I am trying to move the ur5 + Robotiq gripper in a small circle. First I bring up the ur5 + robotiq gripper:
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?