I am connected to a UR5 over the network, working on ROS2 humble, on Ubuntu 22.04
- I set up the right host IP on the robot and robot’s IP in the launch file
- I installed the external control urcap.
- I tried with both enable/disable remote control, and with both local/remote control on teach pendant
then i run on one terminal
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5 robot_ip:=192.168.1.102 launch_rviz:=true
After that, I run the program on the teach pendant of the robot with the external control (with the correct IP).
on another terminal i run
ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py
on 3rd terminal i run
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
Rviz starts with the robot at the right position.
I plan and execute a random trajectory. The plan which i plan and execute is visible in rviz
and i get this output in 3rd terminal
Completed trajectory execution with status SUCCEEDED
Solution was found and executed.
Plan and Execute request complete!
However the real robot does not move.
There is no error in the terminals.
Any clue what could be the problem here?
Thank you in advance