Open nitish3693 opened 1 month ago
Please note : Starting the xarm6_server.launch
under a ROS_NAMESPACE works,
Logs:
Ubuntu20:~/ros_wk$ ROS_NAMESPACE=test roslaunch xarm_bringup xarm6_server.launch robot_ip:=192.168.1.212
... logging to /home/nitish/.ros/log/29b359fc-49d8-11ef-be2f-c9a005e8bc99/roslaunch-Ubuntu20-8630.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://Ubuntu20:34331/
SUMMARY
========
PARAMETERS
* /rosdistro: noetic
* /rosversion: 1.16.0
* /test/xarm/DOF: 6
* /test/xarm/add_gripper: False
* /test/xarm/baud_checkset: True
* /test/xarm/default_gripper_baud: 2000000
* /test/xarm/enforce_limits: True
* /test/xarm/joint_names: ['joint1', 'joint...
* /test/xarm/prefix:
* /test/xarm/uf_model: XARM
* /test/xarm/velocity_control: False
* /test/xarm/xarm_report_type: normal
* /test/xarm/xarm_robot_ip: 192.168.1.212
NODES
/test/xarm/
uf_driver (xarm_api/xarm_driver_node)
auto-starting new master
process[master]: started with pid [8638]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 29b359fc-49d8-11ef-be2f-c9a005e8bc99
process[rosout-1]: started with pid [8648]
started core service [/rosout]
process[test/xarm/uf_driver-2]: started with pid [8655]
[ INFO] [1721837823.783537738]: namespace: /test/xarm
[ INFO] [1721837823.785952677]: xarm_driver_node start
SDK_VERSION: 1.13.21
Tcp control connection successful
change protocol identifier to 2
ROBOT_IP: 192.168.1.212, VERSION: v2.3.0, PROTOCOL: V1, DETAIL: 6,6,XI1300,AC1300,v2.3.0, TYPE1300: [1, 1]
Tcp Report Rich connection successful
change protocol identifier to 3
Tcp Report Norm connection successful
report_data_size: 495, size_is_not_confirm: 0
[ INFO] [1721837824.106527657]: [TCP STATUS] CONTROL: 1, REPORT: 1
report_data_size: 145, size_is_not_confirm: 0
^C[test/xarm/uf_driver-2] killing on exit
[xarm_driver] Ctrl-C caught, exit process...
[rosout-1] killing on exit
^C[master] killing on exit
^Cshutting down processing monitor...
... shutting down processing monitor complete
done
@penglongxiang,
Looks like the error is coming when launching with the argument use_moveit
set as true
@nitish3693, it seems the namespace and remapping had some issues working together, we are looking into this and will get back to you later.
Hi @nitish3693, we are still in the process of optimizing the namespace compatibility, you may try with the following launch file temporarily, there are still some remappings needed:
<?xml version="1.0"?>
<launch>
<arg name="ns" default="" doc="namespace as a group"/>
<arg name="robot_ip" />
<group ns="$(arg ns)">
<remap from="/robot_description" to="/$(arg ns)/robot_description" />
<remap from="/move_group/monitored_planning_scene" to="/$(arg ns)/move_group/monitored_planning_scene" />
<remap from="/$(arg ns)/source_list" to="/source_list" />
<include file="$(find xarm7_moveit_config)/launch/realMove_exec.launch">
<arg name="robot_ip" value="$(arg robot_ip)"/>
</include>
</group>
</launch>
If you launch this file and specify ns:=test
in the command line, you may achieve the similar namespace isolation. We will update the repository after we have finished the optimization.
Hi @penglongxiang, we tested the launch file,
The initial moveit plan work but the current state of the robot is not updating, causing consequent palns to have in correct start position.
Current State in Moveit : Light white arm
Current State of Real Hardware : Solid white arm.
Hi @nitish3693, please check your output of
rostopic list | grep monitored
command and the Planning Scene Topic
in your moveit.rviz configuration file in the xarm6_moveit_config
package (if this is the corresponding launch package).
Hi @penglongxiang
output of command,
@Ubuntu20:~/ros_wk$ rostopic list | grep monitored
/test/move_group/monitored_planning_scene
In the moveit.rviz :
Planning Scene Topic: move_group/monitored_planning_scene
@penglongxiang note in the xarm7_moveit_config
, moveit.rviz
, the planning scene topic is using absolute path,
Planning Scene Topic: /move_group/monitored_planning_scene
I will test by changing that to relative path and will check.
@nitish3693 I pushed an update to the master branch. Can you try to see if it solves your current problem?
@penglongxiang @vimior thanks for the update.
We were able to run xarm6 and xarm7 on same machine, but the tf was completely merged,
Hi Team,
When trying to launch the
realMove_exec.launch
from thexarm6_moveit_config
under a ROS namespace, the process is giving errors and not connecting to thefollow_joint_trajectory
server.Logs,