Hey all, I have installed ros2 humble and ros-humble-ur. Then I run this, Rviz can show the state of the robot in real time:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.56.101
However, when I was trying to further move the robot using commands by following the official guide, the robot is not moving at all:
ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py
Also, I have activated the controller:
[INFO] [1755829029.132962725] [_ros2cli_429741]: waiting for service /controller_manager/list_controllers to become available...
joint_trajectory_controller joint_trajectory_controller/JointTrajectoryController inactive
forward_velocity_controller velocity_controllers/JointGroupVelocityController inactive
joint_state_broadcaster joint_state_broadcaster/JointStateBroadcaster active
forward_position_controller position_controllers/JointGroupPositionController inactive
force_mode_controller ur_controllers/ForceModeController inactive
io_and_status_controller ur_controllers/GPIOController active
speed_scaling_state_broadcaster ur_controllers/SpeedScalingStateBroadcaster active
force_torque_sensor_broadcaster force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster active
tcp_pose_broadcaster pose_broadcaster/PoseBroadcaster active
ur_configuration_controller ur_controllers/URConfigurationController active
scaled_joint_trajectory_controller ur_controllers/ScaledJointTrajectoryController active
passthrough_trajectory_controller ur_controllers/PassthroughTrajectoryController unconfigured
In addition, I have tested the communication by directly using the RTDE script, it moves the robot:
import rtde_controlimport time
robot_ip = “192.168.56.101”
rtde_c = rtde_control.RTDEControlInterface(robot_ip)print(“Connected to RTDE Control!”)
try:
target_position = [1.57,
-1.57,
0.0,
-1.57,
0.0,
0.0]
target_position2 = [-1.57,
-1.57,
0.0,
-1.57,
0.0,
0.0]
speed = 0.1
speed = 0.1
acceleration = 1.0
rtde_c.moveJ(target_position, speed, acceleration)
rtde_c.moveJ(target_position2, speed, acceleration)
print("Sent moveJ command to target:", target_position)
time.sleep(5)
except Exception as e:
print("Error:", e)
rtde_c.disconnect()
print("Disconnected")
The robot still cannot move with: ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py, I’m kinda lost right now and really need some help as there is no one in our area who can help us…
Thanks a lot in advance!