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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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Action client not connected in ROS Melodic #331

Closed vkguda355 closed 5 years ago

vkguda355 commented 5 years ago

Hi,

I have the melodic version of the ur5 package

I can properly connect to the robot typing:

roslaunch ur_moder_drivers ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT

however, when I try to run the moveit planner typing:

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch

I get the error messange:

[ERROR] [....]: MoveitSimpleControllerManager: Action client not connected: /follow_joint_trajectory

How can I fix this issue? This issue, by the way, it was working few hours back without any problem.

I followed the tutorial : http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial

thanks for helping

gavanderhoorn commented 5 years ago

it was working few hours back without any problem.

then I would suggest to first try and recreate the situation in which it was working.

vkguda355 commented 5 years ago

No , I tried multiple times to check I still he the same error message. 0 controlloin the list and action client not connected

vkguda355 commented 5 years ago

When I run the modern drivers, and check for the rostopics, I don't find the / follow_joint _rajectory topics listed

gavanderhoorn commented 5 years ago

Then it would seem the driver is not correctly configured or even running.

Can you show all console output that results from running roslaunch ur_moder_drivers ur5_bringup.launch robot_ip:=IP_OF_THE_ROBOT?

Edit: and note: I'm assuming that:

vkguda355 commented 5 years ago

yes i am using the ur_modern_drivers, have given the actual ip address.and i dont know which branch i had cloned. it was long time back.

PC:~/catkin_ws$ roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=192.168.0.11
... logging to /home/vkguda/.ros/log/d68e88c0-a480-11e9-9d48-d8c49799a17d/roslaunch-vkguda-PC-4292.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.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://vkguda-PC:39179/

SUMMARY
========

PARAMETERS
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /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: 192.168.0.11
 * /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

NODES
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ur_driver (ur_modern_driver/ur_driver)

auto-starting new master
process[master]: started with pid [4307]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d68e88c0-a480-11e9-9d48-d8c49799a17d
process[rosout-1]: started with pid [4318]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [4321]
process[ur_driver-3]: started with pid [4325]
[ INFO] [1562920888.485243293]: Setting up connection: 192.168.0.11:30003
[ INFO] [1562920888.485872819]: Connection established for 192.168.0.11:30003
[ INFO] [1562920888.485899381]: Setting up connection: 192.168.0.11:30001
[ INFO] [1562920888.486333119]: Connection established for 192.168.0.11:30001
[ INFO] [1562920888.486888938]: Got VersionMessage:
[ INFO] [1562920888.486902258]: project name: URControl
[ INFO] [1562920888.486909823]: version: 3.6.0
[ INFO] [1562920888.486916428]: build date: 14-05-2018, 16:43:28
[ INFO] [1562920888.486923168]: Disconnecting from 192.168.0.11:30001
[ INFO] [1562920888.491141697]: ActionServer enabled
[ INFO] [1562920888.491657095]: Use standard trajectory follower
[ INFO] [1562920888.492328532]: Setting up connection: :50001
[ INFO] [1562920888.492421500]: Connection established for :50001
[ INFO] [1562920888.492461823]: Initializing ur_driver/URScript subscriber
[ INFO] [1562920888.493985968]: The ur_driver/URScript initialized
[ INFO] [1562920888.494010425]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1562920888.496059803]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1562920888.496079822]: Starting main loop
[ INFO] [1562920888.496148861]: Setting up connection: 192.168.0.11:30003
[ INFO] [1562920888.496178402]: Starting pipeline RTPacket
[ INFO] [1562920888.496233940]: Starting pipeline StatePacket
[ INFO] [1562920888.496271452]: Setting up connection: 192.168.0.11:30002
[ INFO] [1562920888.496582722]: Connection established for 192.168.0.11:30003
[ INFO] [1562920888.496623195]: Connection established for 192.168.0.11:30002
[ INFO] [1562920888.496904716]: Starting ActionServer
[ INFO] [1562920888.496974241]: Trajectory thread started
gavanderhoorn commented 5 years ago

First: please make sure you're using the latest version of ur_modern_driver (git pull in the ur_modern_driver package directory).

Then rebuild your workspace.

Start the driver again, and then show us the output of rostopic list.

gavanderhoorn commented 5 years ago

I've also transferred this to ur_modern_driver for now, as because of the missing action topics it would appear to be a driver issue, not a MoveIt configuration one.

vkguda355 commented 5 years ago

the problem seems to have been fixed, i had to restart my robot. I ran the code ur_modern_driver ur5_bringup.launch, to see the ros topics listed. 

/joint_states
/joint_temperature
/rosout
/rosout_agg
/tf
/tf_static
/tool_velocity
/ur5_manipulator_controller/follow_joint_trajectory/cancel
/ur5_manipulator_controller/follow_joint_trajectory/feedback
/ur5_manipulator_controller/follow_joint_trajectory/goal
/ur5_manipulator_controller/follow_joint_trajectory/result
/ur5_manipulator_controller/follow_joint_trajectory/status
/ur_driver/URScript
/ur_driver/io_states
/ur_driver/masterboard_state
/ur_driver/robot_mode_state
/ur_driver/robot_status
/wrench

still any idea why i was having this issue yesterday and got resolved, today ?

gavanderhoorn commented 5 years ago

still any idea why i was having this issue yesterday and got resolved, today ?

No. This could be an interplay between the robot controller and the driver, but without much more information and on-site debugging, I doubt we'll be able to figure out what was going on.

gavanderhoorn commented 5 years ago

Closing as it seems to be fixed.

gavanderhoorn commented 5 years ago

If you haven't done so already, I would suggest to make sure you run the most up-to-date code.