m trying to control a real UR10e with Simulink using ROS toolbox. Im trying to change the joint angle publishing on “follow_joint_trajectory” (I give to all joint a position and a velocity) and I run the MATLAB URCap control. But in my terminal, I receive:
[ERROR] [1681457728.294937886]: Can’t accept new action goals. Controller is not running.
Do I have to run a specific controller to the terminal? I know that the connection with Matlab is okay because I can receive for example the joint value with a Subscriber.
Thank you for your answer
Yes, the robot needs running a special program.
Please see the ROS driver documentation: Universal_Robots_ROS_Driver/install_urcap_e_series.md at master · UniversalRobots/Universal_Robots_ROS_Driver · GitHub