According to the guide Usage — ur_robot_driver documentation
we are trying to execute the default trajectory example, but is not working. However the RViz interface is working, and it reflects the movement made with the polyscope.
These are our steps:
source ~/ws_moveit2/install/setup.bash
in the robot, launch the urcap external controller
back in the terminal:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=192.168.31.3 launch_rviz:=false
(where 192.168.31.3 is the ip of this computer)
in other terminal:
source ~/ws_moveit2/install/setup.bash
ros2 control list_controllers
ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py
– this is the output for the test_scaled_joint_trajectory–
[publisher_joint_trajectory_controller-1] [INFO] [1713785049.763745016] [publisher_scaled_joint_trajectory_controller]: Publishing 4 goals on topic “/scaled_joint_trajectory_controller/joint_trajectory” every {wait_sec_between_publish} s
[publisher_joint_trajectory_controller-1] [WARN] [1713785050.721817234] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint shoulder_lift_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1713785050.722097797] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_1_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1713785055.764939528] [publisher_scaled_joint_trajectory_controller]: Start configuration is not within configured limits!
[publisher_joint_trajectory_controller-1] [WARN] [1713785061.764927539] [publisher_scaled_joint_trajectory_controller]: Start configuration is not within configured limits!
[publisher_joint_trajectory_controller-1] [WARN] [1713785067.764925567] [publisher_scaled_joint_trajectory_controller]: Start configuration is not within configured limits!
–this is the output for the list_controllers, which we assume that is correct–
io_and_status_controller[ur_controllers/GPIOController] active
joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
forward_position_controller[position_controllers/JointGroupPositionController] inactive
speed_scaling_state_broadcaster[ur_controllers/SpeedScalingStateBroadcaster] active
scaled_joint_trajectory_controller[ur_controllers/ScaledJointTrajectoryController] inactive
force_torque_sensor_broadcaster[force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active
So the problem shold be in the initial configuration but we cannot figure out how to fix it.
thanks a lot
[publisher_joint_trajectory_controller-1] [WARN] [1713785050.721817234] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint shoulder_lift_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1713785050.722097797] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_1_joint !
This tells you that your initial joint positions aren’t valid.
Your initial joint positions in degrees should be [0, -90, 0, -90, 0, 0]
Thanks a lot, that was the problem.