Not able to move a UR simulator through moveit

Technical Questions
1

I am trying to use the Ur_robot_driver package that’s been provided on the following link:

For using moveit, it says that I should be able to plan and execute trajectories as shown in the following link:

https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/usage.html#usage-with-official-ur-simulator

I am however able to only plan, but the execution fails each time. One of the differences that I see between my RViZ window and the tutorial one, is that in mine, it says in that the Fixed frame: world is missing and gives a global warning: ‘No tf data’.

2

Hi vaishd,

Have you started the program on your robot, with the external_control URCap in it? :slight_smile:
https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/install_urcap_e_series.html

3

I have the vnc server which opens polyscope for me in the web and I can move the cobot using that. However, I cannot upload the urcap file from the resources folder of ur_robot_driver to program folder.

I tried to follow this link to intall the external control.urcap file:

https://docs.ros.org/en/ros2_packages/humble/api/ur_robot_driver/installation/ursim_docker.html

But on opening the vnc server polyscope, nothing changes and I cannot see the urcap file in the polyscope. Also, I am not really sure if this in anyway helps with using moveit later to plan and execute trajectories. Please help me with the most information you have to offer since I am new to the field.

Thanks

4

Hi, after following this tutorial: Setup URSim with Docker — Universal Robots ROS 2 Documentation 0.1 documentation

I can now visualize URSim polyscope and move the robot. In order to make URCap appear, just follow the tutorial step by step. When you are ready to go, make a “External Control program” and play it. If it is not playing, moveit cant execute the planned movement.