# Real robot ur5 is not moving with moveit

**URL:** <https://forum.universal-robots.com/t/real-robot-ur5-is-not-moving-with-moveit/31534>\
**Category:** Technical Questions\
**Created:** [November 23, 2023, 7:08am UTC](https://forum.universal-robots.com/t/real-robot-ur5-is-not-moving-with-moveit/31534 "2023-11-23T07:08:10Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![darshidave1651](https://avatars.discourse-cdn.com/v4/letter/d/ecb155/32.png) [@darshidave1651](https://forum.universal-robots.com/u/darshidave1651)\
**Post date:** [November 23, 2023, 7:08am UTC](https://forum.universal-robots.com/t/real-robot-ur5-is-not-moving-with-moveit/31534/1 "2023-11-23T07:08:10Z")

</div>

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

```auto
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

---

<div class="post-metadata">

**Author:** ![pedromoreo](https://avatars.discourse-cdn.com/v4/letter/p/ce73a5/32.png) [@pedromoreo](https://forum.universal-robots.com/u/pedromoreo)\
**Post date:** [September 26, 2024, 8:48am UTC](https://forum.universal-robots.com/t/real-robot-ur5-is-not-moving-with-moveit/31534/2 "2024-09-26T08:48:55Z")

</div>

there is a discussion about this here

> [@No kinematics plugins defined. Fill and load kinematics.yaml!](https://forum.universal-robots.com/t/no-kinematics-plugins-defined-fill-and-load-kinematics-yaml/35834):
>
> Continuing the discussion from [Move UR with a MoveIt2 Script](https://forum.universal-robots.com/t/move-ur-with-a-moveit2-script/24497): 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](https://moveit.picknik.ai/humble/doc/tutorials/your_first_project/your_first_project.html) to ur5e or ur3e. In this project they explain how to make a launch file for this purpose: [simple\_moveit2\_universal\_robots\_move…](https://github.com/LucaBross/simple_moveit2_universal_robots_movement/blob/main/README.md)

Could you fix it?