Connecting to real UR5e robot

[KomodoCrypto]

Hello, I am using the 'universal_robot' driver in Ubuntu Xenial with ROS Kinetic. With the old driver, I used bringup.launch to start the communication with the real robot as:

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=myIP

However, there is no bringup.launch for ur5e, and other launch files haven't got the IP as an argument. I tried to start the ur5e description launch and then start rviz, but there is no connection to real robot, so IP was not provided. How to work with a real ur5e then? Thank you

[gonzalocasas]

@Ruthy85 looks like you're correct, the launch files for E-series indeed seem to be missing. However, it should be simple to add them, could you please try to copy ur5_bringup.launch and replace the loading of the model with e-series' one? i.e. replace the following:

  <!-- robot model -->
  <include file="$(find ur_description)/launch/ur5_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>

with

  <!-- robot model -->
  <include file="$(find ur_e_description)/launch/ur5e_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>

[gonzalocasas]

Sorry, please ignore my previous comment.

e-Series support is currently being worked on on a fork, you can check the pull request here: https://github.com/ros-industrial/ur_modern_driver/pull/339 To test it, pull that fork into your catkin workspace, test if it works on your setup and ideally report back in the pull request.

[KomodoCrypto]

Thank you. I am testing this fork, that has already the eSeries files. However, I am getting this error when bringup the robot:

unused args [reverse_port] for include of [/home/ros/catkin_ws/src/ur_modern_driver/launch/ur_common.launch]

Even if I pass an argument for the 'reverse_port' I've got the error. However, this argument should be optional...

UPDATE 1: I removed the line in .launch file, so the ur5 (not e) doesn't have it and ur_common.launch doesn't expect to have it.

Now the connection is performed but the error is:

[ INFO] [1570010886.400587842]: Setting up connection: 172.196.0.11:30002 [ INFO] [1570010886.400766029]: Setting up connection: 172.196.0.11:30003 [ INFO] [1570010886.401881688]: Connection established for 172.196.0.11:30002 [ INFO] [1570010886.402106113]: Connection established for 172.196.0.11:30003 [ INFO] [1570010886.403273885]: Starting ActionServer [ INFO] [1570010886.403399694]: Trajectory thread started [ERROR] [1570010886.429175180]: Sub-package of type 3 was not parsed completely! [ INFO] [1570010886.429227347]: Disconnecting from 172.196.0.11:30002 [ INFO] [1570010886.429316624]: Shutting down on stopped pipeline StatePacket [ur_driver-3] process has died [pid 12890, exit code 1, cmd /home/ros/catkin_ws/devel/lib/ur_modern_driver/ur_driver __name:=ur_driver __log:=/home/ros/.ros/log/8628b2d6-e4fc-11e9-b4b3-08002750fd6a/ur_driver-3.log]. log file: /home/ros/.ros/log/8628b2d6-e4fc-11e9-b4b3-08002750fd6a/ur_driver-3*.log

[KomodoCrypto]

I already have it running. Problem was a wrong merge to kinetic-devel. Now I can see the robot real pose and its update when it's moved manualy. However, I am not able to plan, because it's always Failed, due to:

You can start planning now!

[ INFO] [1570454211.959254809]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ WARN] [1570454211.959419965]: Joint 'wrist_1_joint' from the starting state is outside bounds by a significant margin: [ 4.68739 ] should be in the range [ -3.14159 ], [ 3.14159 ] but the error above the ~start_state_max_bounds_error parameter (currently set to 0.1)

[UyaSong]

hi, I meet the similar problem when using UR3e with ur modren driver: [ERROR] [1570010886.429175180]: Sub-package of type 0 was not parsed completely! how do you solve this at last? thanks

[KomodoCrypto]

Hi, I was using a wrong merge to the kinetic-devel branch. After merging to it, everything works fine.