Continuing the discussion from Move UR with a MoveIt2 Script:
Hello, I tried this solution and it doesnt work for me.
We are trying to move a Universal Robot arm and we want to move it through URSIM beforehand. To do this we are trying to adapt the hello_moveit_ur project (configured for panda) Your First C++ MoveIt Project — MoveIt Documentation: Humble documentation to ur5e or ur3e.
In this project they explain how to make a launch file for this purpose: simple_moveit2_universal_robots_movement/README.md at main · LucaBross/simple_moveit2_universal_robots_movement · GitHub
I cannot make it works
Steps to reproduce
According to the README provided for Luca Bross in the same github mentioned before:
Shell 1: run the driver
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=172.17.0.2 launch_rviz:=false initial_joint_controller:=joint_trajectory_controller to connect to the Universal Robot.
Start the external control urcap on the UR to allow external control (172.17.0.2 )
whose answer is :
[ur_ros2_control_node-1] [INFO] [1724836702.880117247] [UR_Client_Library:]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1724836702.880196920] [UR_Client_Library:]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1724836702.909041735] [UR_Client_Library:]: Robot connected to reverse interface. Ready to receive control commands.
Shell 2: run the moveit controller
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e launch_rviz:=true
to cofigure moveit.
whose anser is :
[rviz2-2] [INFO] [1724836802.044574767] [interactive_marker_display_95582728855616]: Sending request for interactive markers
[rviz2-2] [INFO] [1724836802.078529470] [interactive_marker_display_95582728855616]: Service response received for initialization
[rviz2-2] [INFO] [1724836862.032627211] [move_group_interface]: Ready to take commands for planning group ur_manipulator.
Shell 3: launch the program hello
Start the hello_moveit_ur file with a launchfile ros2 launch hello_moveit_ur hello_moveit_ur_launch.py.
whose anser is:
[INFO] [launch]: All log files can be found below /home/pedro/.ros/log/2024-08-28-11-36-43-385497-pedro-B650-AORUS-ELITE-AX-11823
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [hello_moveit_ur-1]: process started with pid [11826]
[hello_moveit_ur-1] [INFO] [1724837803.703205261] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00261015 seconds
[hello_moveit_ur-1] [INFO] [1724837803.703235167] [moveit_robot_model.robot_model]: Loading robot model 'ur'...
[hello_moveit_ur-1] [INFO] [1724837803.703242611] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[hello_moveit_ur-1] [WARN] [1724837803.770902047] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
Expected behaviour
The robot to move in the UR SIM, to the selected point.
Actual behaviour
It gives a warning about the kinematics and keep waiting.
Thanks a lot.
We solved it.
The problem was a conflict of ‘sourcing’
Can you specify, how you did it? I am facing the same problem!!