Hello, I’m trying to test my UR10e using the test_scaled_joint_trajectory_controller.launch.py and test_forward_velocity_controller.launch.py files. While running my files, the robot does not move, the ur_ros2_control_node-1 does not receive the commands.
I am able to control the robot using UR_RTDE and RVIZ, so I don’t think this is a connection issue.
I just rebuilt the ros_ur_driver package after the Humble V3 update.
Here is the process I’m using:
Starting the robot controller and playing the externalcontrol.urp program.
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=false
This is my output:
ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=19
2.168.1.102 launch_rviz:=false
[INFO] [launch]: All log files can be found below /home/nxsgis/.ros/log/2023-05-09-15-49-31-067654-rosie-150073
…
[ur_ros2_control_node-1] [INFO] [1683661775.229465873] [controller_manager]: Loading controller ‘io_and_status_contr
oller’
[ur_ros2_control_node-1] [INFO] [1683661775.237522503] [controller_manager]: Configuring controller ‘joint_state_bro
adcaster’
[ur_ros2_control_node-1] [INFO] [1683661775.237751725] [joint_state_broadcaster]: ‘joints’ or ‘interfaces’ parameter
is empty. All available state interfaces will be published
[spawner-7] [INFO] [1683661775.238107583] [spawner_io_and_status_controller]: Loaded io_and_status_controller
[ur_ros2_control_node-1] [INFO] [1683661775.241179184] [controller_manager]: Configuring controller ‘io_and_status_c
ontroller’
[spawner-5] [INFO] [1683661775.245926462] [spawner_scaled_joint_trajectory_controller]: Configured and activated sca
led_joint_trajectory_controller
[spawner-6] [INFO] [1683661775.249793023] [spawner_joint_state_broadcaster]: Configured and activated joint_state_br
oadcaster
[spawner-8] [INFO] [1683661775.253972574] [spawner_speed_scaling_state_broadcaster]: Configured and activated speed_
scaling_state_broadcaster
[spawner-7] [INFO] [1683661775.264182175] [spawner_io_and_status_controller]: Configured and activated io_and_status
_controller
[ur_ros2_control_node-1] [INFO] [1683661783.674014690] [UR_Client_Library]: Robot requested program
[ur_ros2_control_node-1] [INFO] [1683661783.674100377] [UR_Client_Library]: Sent program to robot
[ur_ros2_control_node-1] [INFO] [1683661783.891150659] [UR_Client_Library]: Robot connected to reverse interface. Re
ady to receive control commands.
Then I run RVIZ:
ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur10e robot_ip:=192.168.1.102 launch_rviz:=true
This also works, I don’t think the output is necessary.
Finally, I try to run the tests:
ros2 launch ur_robot_driver test_scaled_joint_trajectory_controller.launch.py robot_ip:=192.168.1.102 use_fake_hardware:=false
Which produces this output error:
[INFO] [launch]: All log files can be found below /home/nxsgis/.ros/log/2023-05-09-16-16-26-378399-rosie-151623
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [publisher_joint_trajectory_controller-1]: process started with pid [151625]
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.923234970] [publisher_scaled_joint_trajectory_controller]: Goal “pos1” is defined as a list. This is deprecated. Use the following structure:
[publisher_joint_trajectory_controller-1] <goal_name>:
[publisher_joint_trajectory_controller-1] positions: [joint1, joint2, joint3, …]
[publisher_joint_trajectory_controller-1] velocities: [v_joint1, v_joint2, …]
[publisher_joint_trajectory_controller-1] accelerations: [a_joint1, a_joint2, …]
[publisher_joint_trajectory_controller-1] effort: [eff_joint1, eff_joint2, …]
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.924231130] [publisher_scaled_joint_trajectory_controller]: Goal “pos2” is defined as a list. This is deprecated. Use the following structure:
[publisher_joint_trajectory_controller-1] <goal_name>:
[publisher_joint_trajectory_controller-1] positions: [joint1, joint2, joint3, …]
[publisher_joint_trajectory_controller-1] velocities: [v_joint1, v_joint2, …]
[publisher_joint_trajectory_controller-1] accelerations: [a_joint1, a_joint2, …]
[publisher_joint_trajectory_controller-1] effort: [eff_joint1, eff_joint2, …]
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.925280861] [publisher_scaled_joint_trajectory_controller]: Goal “pos3” is defined as a list. This is deprecated. Use the following structure:
[publisher_joint_trajectory_controller-1] <goal_name>:
[publisher_joint_trajectory_controller-1] positions: [joint1, joint2, joint3, …]
[publisher_joint_trajectory_controller-1] velocities: [v_joint1, v_joint2, …]
[publisher_joint_trajectory_controller-1] accelerations: [a_joint1, a_joint2, …]
[publisher_joint_trajectory_controller-1] effort: [eff_joint1, eff_joint2, …]
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.926359306] [publisher_scaled_joint_trajectory_controller]: Goal “pos4” is defined as a list. This is deprecated. Use the following structure:
[publisher_joint_trajectory_controller-1] <goal_name>:
[publisher_joint_trajectory_controller-1] positions: [joint1, joint2, joint3, …]
[publisher_joint_trajectory_controller-1] velocities: [v_joint1, v_joint2, …]
[publisher_joint_trajectory_controller-1] accelerations: [a_joint1, a_joint2, …]
[publisher_joint_trajectory_controller-1] effort: [eff_joint1, eff_joint2, …]
[publisher_joint_trajectory_controller-1] [INFO] [1683663386.926885635] [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] [1683663386.931089764] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint shoulder_lift_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.931773437] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint elbow_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.932362488] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_1_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.932861589] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_2_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.933313104] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint wrist_3_joint !
[publisher_joint_trajectory_controller-1] [WARN] [1683663386.934009227] [publisher_scaled_joint_trajectory_controller]: Starting point limits exceeded for joint shoulder_pan_joint !
Switching to joint velocity controllers and the respective tests seems to work better from a console output side, as the commands are being sent and errors aren’t being returned, but the robot also does not move.
Any help?