[ROS2] PUBLISHER JOINT TRAJECTORY is not working

Technical Questions Robot Communication
1

ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py

[publisher_joint_trajectory_controller-1] [WARN] [1713266290.499765541] [publisher_scaled_joint_trajectory_controller]: Start configuration is not within configured limits!

the robot is not moving, we were expecting for the ur5 robot to make a move.

In addition the rviz is working and follow the movements of the robot if we manually rotate it with the polyscope with this command:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.31.3

We cannot add trajectory with movelt.

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2

You need to make sure that the robot

For testing MoveIt! please use its corresponding launchfile:

ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

Please see Usage — ur_robot_driver documentation for further usage information.

3

Thanks for your answer.
The external_controller is running. We checked this.
According to the page Usage — ur_robot_driver documentation
we tried the commands for testing the real robot UR5e (nor the mockup either simulartor).

Firstable we tried to run in separated shells the ur_robot_driver and the moveit, as you can see in the image below. When we move the robot manually, the interface is updating. But when we try to move the TCP inside the Rviz, the simulation is playing but the real robot is not acting. Also you can see the plan is FAILED.

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.31.3 launch_rviz:=false
#other terminal
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true

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We are not quite sure what do you mean with upright. The first image or the second.

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Thanks a lot, sorry for the inconveniences

4

Solved.
The problem was in the urcap external_controller. it was not properly running.