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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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can connect to UR10 but cannot control with moveit. #330

Closed nag92 closed 4 years ago

nag92 commented 5 years ago

I am trying to control the UR10 using moveit. I am have the vanilla ur_modern_driver and universal_robot packages. Both of which are on the kinetic-devel branches.

When I run the following commands:

terminal 1: roslaunch ur_modern_driver ur10_ros_control.launch limited:=true robot_ip:=192.168.50.1 terminal 2: roslaunch ur10_moveit_config ur10_moveit_planninexecution.launch

terminal 3: roslaunch ur10_moveit_config moveit_rviz.launch

I am able to connect to the robot and echo the joints states but when I try to control the robot using the Rviz gui the arm wont move and is not in the same configuration as the phyical robot. My terminal oututs are as follows:

Terminal 1: 

... logging to /home/nathanielgoldfarb/.ros/log/21c926f6-a19d-11e9-9aa3-9c2a70161d03/roslaunch-RISE-Dell4D-13769.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://127.0.0.1:34495/

SUMMARY
========

PARAMETERS
 * /force_torque_sensor_controller/publish_rate: 125
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /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....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /ur_hardware_interface/base_frame: base
 * /ur_hardware_interface/max_payload: 3.0
 * /ur_hardware_interface/max_velocity: 10.0
 * /ur_hardware_interface/min_payload: 0.0
 * /ur_hardware_interface/prefix: 
 * /ur_hardware_interface/reverse_ip_address: 
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip_address: 192.168.50.1
 * /ur_hardware_interface/servoj_gain: 750.0
 * /ur_hardware_interface/shutdown_on_disconnect: True
 * /ur_hardware_interface/tool_frame: tool0_controller
 * /ur_hardware_interface/use_ros_control: True
 * /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: 0.05
 * /vel_based_pos_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/elbow_joint/p: 5.0
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/i: 0.05
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/wrist_1_joint/p: 5.0
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/i: 0.05
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/wrist_2_joint/p: 5.0
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/i: 0.05
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_based_pos_traj_controller/gains/wrist_3_joint/p: 5.0
 * /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)
    ros_control_controller_manager (controller_manager/controller_manager)
    ros_control_controller_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [13782]
ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to 21c926f6-a19d-11e9-9aa3-9c2a70161d03
process[rosout-1]: started with pid [13796]
started core service [/rosout]
process[ur_hardware_interface-2]: started with pid [13813]
process[ros_control_controller_spawner-3]: started with pid [13814]
process[ros_control_controller_manager-4]: started with pid [13816]
process[robot_state_publisher-5]: started with pid [13827]
[INFO] [1562603187.379573]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1562603187.382059]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1562603187.383802]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1562603187.385406]: Loading controller: joint_state_controller
Loaded pos_based_pos_traj_controller
[INFO] [1562603187.447120]: Loading controller: force_torque_sensor_controller
Loaded joint_group_vel_controller
[INFO] [1562603187.457601]: Loading controller: vel_based_pos_traj_controller
[INFO] [1562603187.638737]: Controller Spawner: Loaded controllers: joint_state_controller, force_torque_sensor_controller, vel_based_pos_traj_controller
[INFO] [1562603187.647039]: Started controllers: joint_state_controller, force_torque_sensor_controller, vel_based_pos_traj_controller
[ros_control_controller_manager-4] process has finished cleanly
log file: /home/nathanielgoldfarb/.ros/log/21c926f6-a19d-11e9-9aa3-9c2a70161d03/ros_control_controller_manager-4*.log
^C[robot_state_publisher-5] killing on exit
[ros_control_controller_spawner-3] killing on exit
[ur_hardware_interface-2] killing on exit
[INFO] [1562603298.053794]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1562603298.054230]: Stopping all controllers...
[WARN] [1562603298.171315]: Controller Spawner error while taking down controllers: unable to connect to service: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

terminal 2 

... logging to /home/nathanielgoldfarb/.ros/log/21c926f6-a19d-11e9-9aa3-9c2a70161d03/roslaunch-RISE-Dell4D-14439.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://127.0.0.1:34875/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 1.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: base_link
 * /move_group/octomap_resolution: 0.1
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://127.0.0.1:11311

process[move_group-1]: started with pid [14459]
[ INFO] [1562603192.468422153]: Loading robot model 'ur10'...
[ WARN] [1562603192.468485969]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1562603192.468501189]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1562603192.544103567]: Loading robot model 'ur10'...
[ WARN] [1562603192.544150803]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1562603192.544173911]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1562603192.589570167]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1562603192.592083712]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1562603192.592112835]: Starting scene monitor
[ INFO] [1562603192.594541127]: Listening to '/planning_scene'
[ INFO] [1562603192.594563440]: Starting world geometry monitor
[ INFO] [1562603192.596833211]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1562603192.599161977]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1562603192.629976356]: Listening to 'velodyne/pointcloud2' using message filter with target frame '/world '
[ INFO] [1562603192.634951316]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1562603192.659732251]: Initializing OMPL interface using ROS parameters
[ INFO] [1562603192.684909936]: Using planning interface 'OMPL'
[ INFO] [1562603192.692777497]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1562603192.693572941]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1562603192.694307968]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1562603192.695011509]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1562603192.696099519]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1562603192.696648953]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1562603192.696738352]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1562603192.696772460]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1562603192.696804123]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1562603192.696836156]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1562603192.696856077]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1562603193.021510444]: Added FollowJointTrajectory controller for /vel_based_pos_traj_controller
[ INFO] [1562603193.021715354]: Returned 1 controllers in list
[ INFO] [1562603193.051624226]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1562603193.163827290]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1562603193.163914650]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1562603193.163945057]: MoveGroup context initialization complete

You can start planning now!

^C[move_group-1] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done

terminal 3:

... logging to /home/nathanielgoldfarb/.ros/log/6f4ae68e-a19e-11e9-9aa3-9c2a70161d03/roslaunch-RISE-Dell4D-17381.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://127.0.0.1:39913/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_RISE_Dell4D_17381_2126978512256896102/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_RISE_Dell4D_17381_2126978512256896102/manipulator/kinematics_solver_attempts: 3
 * /rviz_RISE_Dell4D_17381_2126978512256896102/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_RISE_Dell4D_17381_2126978512256896102/manipulator/kinematics_solver_timeout: 0.005

NODES
  /
    rviz_RISE_Dell4D_17381_2126978512256896102 (rviz/rviz)

ROS_MASTER_URI=http://127.0.0.1:11311

process[rviz_RISE_Dell4D_17381_2126978512256896102-1]: started with pid [17398]
[ INFO] [1562603757.694912938]: rviz version 1.12.17
[ INFO] [1562603757.694962233]: compiled against Qt version 5.5.1
[ INFO] [1562603757.694978842]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1562603758.483683220]: Stereo is NOT SUPPORTED
[ INFO] [1562603758.483766509]: OpenGl version: 4.5 (GLSL 4.5).
[ INFO] [1562603761.932464443]: Loading robot model 'ur10'...
[ WARN] [1562603761.932544074]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1562603761.932576894]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1562603761.973679670]: Loading robot model 'ur10'...
[ WARN] [1562603761.973722426]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1562603761.973771845]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1562603762.058196867]: Starting scene monitor
[ INFO] [1562603762.064906295]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1562603762.466338663]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1562603763.658083020]: Ready to take commands for planning group manipulator.
[ INFO] [1562603763.658181357]: Looking around: no
[ INFO] [1562603763.658236141]: Replanning: no
[ WARN] [1562603763.686071217]: Interactive marker 'EE:goal_ee_link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
^C[rviz_RISE_Dell4D_17381_2126978512256896102-1] killing on exit
^C^C^Cshutting down processing monitor...
... shutting down processing monitor complete
done
nathanielgoldfarb@RISE-Dell4D:~$ roslaunch ur10_moveit_config moveit_rviz.launch
... logging to /home/nathanielgoldfarb/.ros/log/6f4ae68e-a19e-11e9-9aa3-9c2a70161d03/roslaunch-RISE-Dell4D-17938.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://127.0.0.1:42053/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rviz_RISE_Dell4D_17938_6059954651304162092/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /rviz_RISE_Dell4D_17938_6059954651304162092/manipulator/kinematics_solver_attempts: 3
 * /rviz_RISE_Dell4D_17938_6059954651304162092/manipulator/kinematics_solver_search_resolution: 0.005
 * /rviz_RISE_Dell4D_17938_6059954651304162092/manipulator/kinematics_solver_timeout: 0.005

NODES
  /
    rviz_RISE_Dell4D_17938_6059954651304162092 (rviz/rviz)

ROS_MASTER_URI=http://127.0.0.1:11311

process[rviz_RISE_Dell4D_17938_6059954651304162092-1]: started with pid [17955]
[ INFO] [1562603785.091453985]: rviz version 1.12.17
[ INFO] [1562603785.091494860]: compiled against Qt version 5.5.1
[ INFO] [1562603785.091504523]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1562603785.950358276]: Stereo is NOT SUPPORTED
[ INFO] [1562603785.950453704]: OpenGl version: 4.5 (GLSL 4.5).
Dirodgu commented 5 years ago

This closed issue may help you #317. I had the same problem and it was because I didn't switch on properly the "Remote Control" mode on the teaching pendant of robot.

gavanderhoorn commented 4 years ago

I'm closing this as we've officially deprecated this package.

Refer to the announcement on ROS Discourse.

gavanderhoorn commented 4 years ago

It's somewhat unclear from the logs shown, but if this is a CB3 or e-series controller, please use ur_robot_driver instead of ur_modern_driver.