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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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UR5 not moving after receiving trajectory #379

Closed angux94 closed 3 years ago

angux94 commented 3 years ago

Hello, I'm using MoveIt along with an UR5, I'm running at the moment:

And it seems to be working successfully and connecting/communicating to the robot, but when I send some basic planning through "Plan and execute" in Rviz, the UR5 seems to get the request but it never moves.

I'm on Polyscope 3.6 using ROS melodic. (I haven't used https://github.com/UniversalRobots/Universal_Robots_ROS_Driver as it says it supports from CB3 >= 3.7).

From my terminal outputs i'm getting:

Terminal 1: roslaunch ur_modern_driver ur5_bringup.launch

[ INFO] [1623140863.575058100]: Setting up connection: 192.168.0.11:30003
[ INFO] [1623140863.579746600]: Connection established for 192.168.0.11:30003
[ INFO] [1623140863.580503700]: Setting up connection: 192.168.0.11:30001
[ INFO] [1623140863.584793000]: Connection established for 192.168.0.11:30001
[ INFO] [1623140863.739644200]: Got VersionMessage:
[ INFO] [1623140863.739708300]: project name: URControl
[ INFO] [1623140863.739724000]: version: 3.6.0
[ INFO] [1623140863.739734800]: build date: 14-05-2018, 16:43:28
[ INFO] [1623140863.739750200]: Disconnecting from 192.168.0.11:30001
[ INFO] [1623140863.775175500]: ActionServer enabled
[ INFO] [1623140863.777238300]: Use standard trajectory follower
[ INFO] [1623140863.779432000]: Setting up connection: :50001
[ INFO] [1623140863.779639500]: Connection established for :50001
[ INFO] [1623140863.780836700]: Initializing ur_driver/URScript subscriber
[ INFO] [1623140863.785054600]: The ur_driver/URScript initialized
[ INFO] [1623140863.785096900]: Notifier: Pipeline disconnect will shutdown the node
[ INFO] [1623140863.794686800]: Service 'ur_driver/robot_enable' activation mode: Never
[ INFO] [1623140863.794781800]: Starting main loop
[ INFO] [1623140863.795025900]: Starting pipeline RTPacket
[ INFO] [1623140863.795226700]: Setting up connection: 192.168.0.11:30003
[ INFO] [1623140863.795451500]: Starting pipeline StatePacket
[ INFO] [1623140863.796534600]: Setting up connection: 192.168.0.11:30002
[ INFO] [1623140863.803307900]: Starting ActionServer
[ INFO] [1623140863.803468600]: Connection established for 192.168.0.11:30003
[ INFO] [1623140863.808018200]: Trajectory thread started
[ INFO] [1623140863.810610300]: Connection established for 192.168.0.11:30002
[ INFO] [1623140929.396165100]: Received new goal
[ INFO] [1623140929.396353400]: Trajectory received and accepted
[ INFO] [1623140929.396622500]: Translating trajectory
[ INFO] [1623140929.396782100]: Executing trajectory with 4 points and duration of 0.916s
[ INFO] [1623140929.396939100]: Attempting to start follower 0x55af124e6ae0
[ INFO] [1623140929.397122900]: Uploading trajectory program to robot

Terminal 2: roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch

[ INFO] [1623140879.241233100]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1623140879.241320200]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1623140929.280514700]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1623140929.293039000]: Planning attempt 1 of at most 1
[ INFO] [1623140929.322197000]: Planner configuration 'manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1623140929.329240300]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.330379200]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.330667200]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.332183700]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.336746600]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1623140929.344971100]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1623140929.348419400]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1623140929.350581200]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1623140929.351303100]: ParallelPlan::solve(): Solution found by one or more threads in 0.023427 seconds
[ INFO] [1623140929.352447400]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.353083000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.355397600]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1623140929.355537600]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1623140929.355928000]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.356553700]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.359327000]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1623140929.360967300]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1623140929.361241400]: ParallelPlan::solve(): Solution found by one or more threads in 0.009392 seconds
[ INFO] [1623140929.361603500]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.364021700]: RRTConnect: Created 5 states (2 start + 3 goal)
[ INFO] [1623140929.364376800]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1623140929.367924200]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1623140929.368262300]: ParallelPlan::solve(): Solution found by one or more threads in 0.006804 seconds
[ INFO] [1623140929.380289300]: SimpleSetup: Path simplification took 0.011250 seconds and changed from 3 to 2 states
[ INFO] [1623140929.388854300]: Disabling trajectory recording

Terminal 3: roslaunch ur5_moveit_config moveit_rviz.launch config:=true

[ INFO] [1623140888.318860700]: rviz version 1.13.16
[ INFO] [1623140888.319363600]: compiled against Qt version 5.9.5
[ INFO] [1623140888.319407500]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1623140888.335579300]: Forcing OpenGl version 0.
[ INFO] [1623140888.926196700]: Stereo is NOT SUPPORTED
[ INFO] [1623140888.926361300]: OpenGL device: llvmpipe (LLVM 8.0, 256 bits)
[ INFO] [1623140888.926444900]: OpenGl version: 3.1 (GLSL 1.4).
[ INFO] [1623140892.877808400]: Loading robot model 'ur5'...
[ WARN] [1623140892.877986100]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1623140892.878051600]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1623140892.926370800]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_fc5ae47b5a94_402_6280233072355241255/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1623140893.408089700]: Starting planning scene monitor
[ INFO] [1623140893.413558900]: Listening to '/move_group/monitored_planning_scene'
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ INFO] [1623140894.027250300]: Constructing new MoveGroup connection for group 'manipulator' in namespace ''
[ INFO] [1623140895.639155800]: Ready to take commands for planning group manipulator.
[ INFO] [1623140895.643379300]: Looking around: no
[ INFO] [1623140895.643670600]: Replanning: no
[ INFO] [1623140895.704513200]: Marker 'EE:goal_ee_link/10': mesh_use_embedded_materials is ignored.

I can't identify the problem as it seems to be working, any idea on what might be the issue?

Thanks in advance.

gavanderhoorn commented 3 years ago

I'm on Polyscope 3.6 using ROS melodic. (I haven't used https://github.com/UniversalRobots/Universal_Robots_ROS_Driver as it says it supports from CB3 >= 3.7).

CB3 and newer controllers should really use Universal_Robots_ROS_Driver.

ur_modern_driver is deprecated for everything CB3 and up -- meaning we don't support it any more for those controllers.

gavanderhoorn commented 3 years ago

Due to what I wrote in my earlier comment I'm going to close this.

I'd really recommend you upgrade your Polyscope version to >=3.7 and use Universal_Robots_ROS_Driver instead of ur_modern_driver.

Universal_Robots_ROS_Driver is supported by Universal Robots, supports more features and is actively being developed and maintained.