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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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Launching the driver causes the arm to go to HOME position (all joints equal to 0) #335

Closed joaocabogon closed 5 years ago

joaocabogon commented 5 years ago

Hello,

When the driver is launched the arm, goes to the HOME joints configuration (all zero) in a dangerous way.

How can I launch the driver and keep the arm in the current configuration? In other words, I want to launch the driver without moving the arm.

Thanks

gavanderhoorn commented 5 years ago

Please clarify which branch you have built: master or kinetic-devel.

And please show us how you start everything.

Then tell us which controller type you have (CB1, CB2, CB3 or an e-series controller), which robot and which version of polyscope/system software.

joaocabogon commented 5 years ago

I am actually using this branch: https://github.com/plusone-robotics/ur_modern_driver/tree/ur_moderner_driver

I am using: roslaunch ur_modern_driver ur5e_ros_control.launch robot_ip:=...

Using a UR5e arm with Polyscope 5.3.1

gavanderhoorn commented 5 years ago

I am actually using this branch: https://github.com/plusone-robotics/ur_modern_driver/tree/ur_moderner_driver

Then I'm rather confused as to why you are posting an issue here.

We do not support forks of this repository.

I am using: roslaunch ur_modern_driver ur5e_ros_control.launch robot_ip:=...

Ah. ros_control mode.

It's possible that fork does not include #213, which could cause this.

But I have no idea, as I don't use that fork.

gavanderhoorn commented 5 years ago

As you are using a fork and not the package in this repository, I'm going to close the issue.

Please go to the maintainers of the fork for support.

Feel free to keep commenting on this issue of course.

joaocabogon commented 5 years ago

Commenting just to thank you and to say that #213 solved the problem.

BTW, the fork I am using does not have an Issues tab, that's why I posted here.