auborobot/aubo_robot

Developed for aubo robot (http://www.aubo-robotics.cn/)

aubo_robot's Issues

compile failed in 16.04

[ 85%] Built target aubo_msgs_generate_messages
[ 87%] Built target aubo_i10_moveit_kinematic_plugin
[ 87%] Built target aubo_msgs_gencpp
[ 90%] Built target testIO
[ 92%] Built target testAuboAPI
[ 95%] Built target aubo_driver
/opt/ros/kinetic/lib/libindustrial_utils.so: undefined reference to operator<<(std::ostream&, XmlRpc::XmlRpcValue const&)' collect2: error: ld returned 1 exit status aubo_robot/aubo_controller/CMakeFiles/aubo_joint_trajectory_action.dir/build.make:121: recipe for target '/home/rosfun/aubo/devel/lib/aubo_controller/aubo_joint_trajectory_action' failed make[2]: *** [/home/rosfun/aubo/devel/lib/aubo_controller/aubo_joint_trajectory_action] Error 1 CMakeFiles/Makefile2:5435: recipe for target 'aubo_robot/aubo_controller/CMakeFiles/aubo_joint_trajectory_action.dir/all' failed make[1]: *** [aubo_robot/aubo_controller/CMakeFiles/aubo_joint_trajectory_action.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getVectorBetweenPoints(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getCenterPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const' /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::RvizVisualTools(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::_cxx11::basic_string<char, std::char_traits, std::allocator >, ros::NodeHandle)'
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getColor(rviz_visual_tools::colors) const' /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::name[abi:cxx11]'
collect2: error: ld returned 1 exit status
aubo_robot/aubo_demo/CMakeFiles/Test_Aubokinematic.dir/build.make:381: recipe for target '/home/rosfun/aubo/devel/lib/aubo_demo/Test_Aubokinematic' failed
make[2]: *** [/home/rosfun/aubo/devel/lib/aubo_demo/Test_Aubokinematic] Error 1
CMakeFiles/Makefile2:545: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/Test_Aubokinematic.dir/all' failed
make[1]: *** [aubo_robot/aubo_demo/CMakeFiles/Test_Aubokinematic.dir/all] Error 2
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getVectorBetweenPoints(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const' /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getCenterPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::RvizVisualTools(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, ros::NodeHandle)' /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getColor(rviz_visual_tools::colors) const'
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::name_[abi:cxx11]' collect2: error: ld returned 1 exit status aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/build.make:381: recipe for target '/home/rosfun/aubo/devel/lib/aubo_demo/MoveGroupInterface_To_Kinetic' failed make[2]: *** [/home/rosfun/aubo/devel/lib/aubo_demo/MoveGroupInterface_To_Kinetic] Error 1 CMakeFiles/Makefile2:582: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/all' failed make[1]: *** [aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/all] Error 2 /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getVectorBetweenPoints(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getCenterPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const' /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::RvizVisualTools(std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::_cxx11::basic_string<char, std::char_traits, std::allocator >, ros::NodeHandle)'
/opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::getColor(rviz_visual_tools::colors) const' /opt/ros/kinetic/lib/libmoveit_visual_tools.so: undefined reference to rviz_visual_tools::RvizVisualTools::name[abi:cxx11]'
collect2: error: ld returned 1 exit status
aubo_robot/aubo_demo/CMakeFiles/AuboTest_kinetic.dir/build.make:381: recipe for target '/home/rosfun/aubo/devel/lib/aubo_demo/AuboTest_kinetic' failed
make[2]: *** [/home/rosfun/aubo/devel/lib/aubo_demo/AuboTest_kinetic] Error 1
CMakeFiles/Makefile2:3371: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/AuboTest_kinetic.dir/all' failed
make[1]: *** [aubo_robot/aubo_demo/CMakeFiles/AuboTest_kinetic.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

关于aubo i5机械臂初始位置错误的问题

使用了textfile="$(find aubo_description)/urdf/aubo_i5.urdf"这个文件，加载后gazebo中初始姿态很奇怪。PID参数原本都是0，我给定了相关的值，应该不影响。之前在UR3中也遇到过这样的问题，加了PID参数之后会出现姿态诡异的现象。

''aubo_robot_simulator''node process has died

Dear author, there is a problem about ROS Melodic operation that cannot be solved.
I tried running roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_IP :=192.168.1.2 to drive the real arm. But RVIz reported this error:

[aubo_robot_simulator-2] process has died [pid 173422, exit code 1, cmd /home/wkf/robot/aubo_melodic/devel/lib/aubo_controller/aubo_robot_simulator __name:=aubo_robot_simulator __log:=/home/wkf/.ros/log/baf84084-6a07-11ec-a81d-7783587e98b7/aubo_robot_simulator-2.log].
log file: /home/wkf/.ros/log/baf84084-6a07-11ec-a81d-7783587e98b7/aubo_robot_simulator-2*.log

I have tried to configure the environment according to the aubo_melodic version on B station. The url is https://www.bilibili.com/video/BV1TR4y1n7rL?from=search&seid=8052975772081815533&spm_id_from=333.337.0.0, the command is used

1. sudo apt-get install build-essential cmake pkg-config unzip yasm git checkinstall curl wget exfat-utils gparted

2. sudo apt install libvtk6-jni libvtk6-java libvtk6-dev libvtk6-qt-dev libpcl-dev

3. sudo apt install ros-melodic-pcl-conversions ros-melodic-pcl-ros ros-melodic-perception-pcl ros-melodic-perception ros-melodic-rqt

4. sudo apt install ros-melodic-desktop-full

5. Sudo apt install python-rosdep

6. sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential ros-melodic-catkin

7. sudo apt install python-dev python-pip

8. sudo pip3 install -U catkin_tools

9. sudo pip install rosdepc

10. sudo rosdepc init

11. sudo rosdepc update

12. Industrial depends on installation
    sudo apt install ros-melodic-industrial-*
    sudo apt install ros-melodic-gazebo-ros
    sudo apt install ros-melodic-gazebo-plugins
    sudo apt install ros-melodic-gazebo-ros-control

13. Modify system Eigen3 soft link
    sudo ln -sf /usr/include/eigen3/Eigen/ /usr/include/Eigen
    sudo ln -sf /usr/include/eigen3/unsupported/ /usr/include/unsupported

14. Install libprotobuf9
    wget http://archive.ubuntu.com/ubuntu/pool/main/p/protobuf/libprotobuf9v5_2.6.1-1.3_amd64.deb
    sudo dpkg -i libprotobuf9v5_2.6.1-1.3_amd64.deb

15. Install source package dependencies through Rosdep
    cd catkin_ws/src
    rosdep install -y --from-paths ~/robot/aubo_ag95_melodic/src --ignore-src -r

After the repair, the compilation passes normally, but the Aubo_robot_simulator still fails, as shown below

[aubo_robot_simulator-2] process has died [pid 173422, exit code 1, cmd /home/wkf/robot/aubo_melodic/devel/lib/aubo_controller/aubo_robot_simulator __name:=aubo_robot_simulator __log:=/home/wkf/.ros/log/baf84084-6a07-11ec-a81d-7783587e98b7/aubo_robot_simulator-2.log].
log file: /home/wkf/.ros/log/baf84084-6a07-11ec-a81d-7783587e98b7/aubo_robot_simulator-2*.log

Cannot Launch aubo_robot In Gazebo

I install and build the package following the tutorial but I cannot launch the robot in gazebo.
The command is "roslaunch aubo_gazebo aubo_i5_gazebo_control.launch"
It seems that there is something wrong with the urdf files.
I'd appreciate it if anyone could help me fix it.

Do you have a version base on ros_control instead of ros-i?

set paylaod

Hi, I can't find service of set payload, where it is ?

aubo_controller

Now I have successfully make the program ostensibly, but I cannot find the executable in the dir catkin_ws/build/lib/aubo_controller, i.e this is a empty folder. Can you tell me how it is happend

SAFETY CRITICAL!! Driver ignores reduced mode or safeguard

When safeguard or reduced mode is triggered on the Safety IO, normal aubo programs stop or slow down, however, through ROS you can perform moves with full speed. ROS driver apparently completely ignores these signals. This is a huge safety issue that prevents deploying AUBO robots in certified applications.

SW Version: v4.5.0 foregin

ros/catkin_ws/src/aubo_robot/aubo_driver/lib/lib64/libotgLib.a(otgnewslib.o): unrecognised relocation (0x2a) in section `.text'

This problem may have something to do with Binutils and/or glibc version.
I have:
GNU ld (GNU Binutils for Ubuntu) 2.24
ldd (Ubuntu EGLIBC 2.19-0ubuntu6.14) 2.19

Could you please provide the libotgLib.a built by above configurations?

Thanks a million.

Is there any topic like wrench in UR

Does aubo robot has any ros topic like /wrench in UR or any other methods to get the force feedback?

Aubo package can't be catkin_make because of Eigen3

Recently, I met the problem that Aubo package can't be catkin_make because of Eigen3 lib. Also the same issues occurs with moveit_tutorials can't be catkin built because of Eigen3.

My ROS system is Kinetic, the Eigen3 version is 3.3~beta 1-2. And the gcc version is 5.4.0.
I follow the aubo_robot/readme.md file to install Aubo package, and I have install moveit-core and induatrial-core, but I met the error occures. And the error log file is in the following.

From the error log file, I think the version of Moveit_tutorials is not compatible with the version of Eigen3. Because the error log file shows the problem is from Eigen::transform() function. Furthermore, I check the tranform.h file from Eigen3 lib, the Eigen::Transform() function is forbidden to use, because this function may cause error. But the error log file show that the movtit_tutorial have call the Eigen::transform() function, so it make a mistake.

[ 93%] Built target aubo_joint_trajectory_action
In file included from /usr/include/eigen3/Eigen/Core:142:0,
from /usr/include/eigen3/Eigen/Geometry:11,
from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model.h:47,
from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h:41,
from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:47,
from /home/menghui/ws_moveit/src/moveit/moveit_core/robot_state/include/moveit/robot_state/robot_state.h:41,
from /home/menghui/ws_moveit/src/moveit/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h:43,
from /home/menghui/aubo_ws/src/aubo_robot/aubo_demo/src/MoveGroupInterface_To_Kinetic.cpp:39:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/menghui/aubo_ws/src/aubo_robot/aubo_demo/src/MoveGroupInterface_To_Kinetic.cpp:92:73: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:33:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:334:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(Af
^
[ 95%] Linking CXX executable /home/menghui/aubo_ws/devel/lib/aubo_driver/testAuboAPI
[ 96%] Linking CXX executable /home/menghui/aubo_ws/devel/lib/aubo_driver/aubo_driver
[ 96%] Built target testAuboAPI
[ 96%] Built target aubo_driver
[ 98%] Linking CXX executable /home/menghui/aubo_ws/devel/lib/aubo_planner/aubo_planner_test
aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/build.make:62: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/src/MoveGroupInterface_To_Kinetic.cpp.o' failed
make[2]: *** [aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/src/MoveGroupInterface_To_Kinetic.cpp.o] Error 1
CMakeFiles/Makefile2:595: recipe for target 'aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/all' failed
make[1]: *** [aubo_robot/aubo_demo/CMakeFiles/MoveGroupInterface_To_Kinetic.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 98%] Built target aubo_planner_test
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Performance of Moveit on real robot

I tried to control the real robot (aubo i5 v4) with Moveit. However, the execution failed most of the time (succeeded once only). Is that the normal performance of Moveit on the robot or did I do something wrong?

Aubo_robot melodic error

i face the follow error help!!ubuntu 18.04 melodic

/usr/include/boost/bind/bind.hpp:319:35: error: no match for call to ‘(boost::mfi::mf1<void, industrial_robot_client::joint_trajectory_action::jointtrajectoryaction,="" actionlib::servergoalhandle<control_msgs::followjointtrajectoryaction<std::allocator<void=""> > >&>) (industrial_robot_client::joint_trajectory_action::JointTrajectoryAction*&, actionlib::ServerGoalHandle<control_msgs::followjointtrajectoryaction_<std::allocator > >)’ unwrapper::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_]);

aubo_i3 doesn't show up in rviz

It seems that there is some issue with the visual mesh of aubo_i3 in rviz.
When I roslaunch aubo_i3_moveit_config demo.launch robot doesn't show up correctly:

Collision mesh seems to work correctly.

/opt/ros/kinetic/lib/libmoveit_trajectory_processing.so: error adding symbols: File in wrong format

/opt/ros/kinetic/lib/libmoveit_trajectory_processing.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
aubo_robot/aubo_kinematics/CMakeFiles/aubo_i10_moveit_kinematic_plugin.dir/build.make:186: recipe for target '/home/chenmz/catkin_ws/devel/lib/libaubo_i10_moveit_kinematic_plugin.so' failed
make[2]: *** [/home/chenmz/catkin_ws/devel/lib/libaubo_i10_moveit_kinematic_plugin.so] Error 1
CMakeFiles/Makefile2:2053: recipe for target 'aubo_robot/aubo_kinematics/CMakeFiles/aubo_i10_moveit_kinematic_plugin.dir/all' failed
make[1]: *** [aubo_robot/aubo_kinematics/CMakeFiles/aubo_i10_moveit_kinematic_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/opt/ros/kinetic/lib/libmoveit_trajectory_processing.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
aubo_robot/aubo_kinematics/CMakeFiles/aubo_i5_moveit_kinematic_plugin.dir/build.make:186: recipe for target '/home/chenmz/catkin_ws/devel/lib/libaubo_i5_moveit_kinematic_plugin.so' failed
make[2]: *** [/home/chenmz/catkin_ws/devel/lib/libaubo_i5_moveit_kinematic_plugin.so] Error 1
CMakeFiles/Makefile2:2080: recipe for target 'aubo_robot/aubo_kinematics/CMakeFiles/aubo_i5_moveit_kinematic_plugin.dir/all' failed
make[1]: *** [aubo_robot/aubo_kinematics/CMakeFiles/aubo_i5_moveit_kinematic_plugin.dir/all] Error 2
/opt/ros/kinetic/lib/libmoveit_trajectory_processing.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
aubo_robot/aubo_kinematics/CMakeFiles/aubo_i3_moveit_kinematic_plugin.dir/build.make:186: recipe for target '/home/chenmz/catkin_ws/devel/lib/libaubo_i3_moveit_kinematic_plugin.so' failed
make[2]: *** [/home/chenmz/catkin_ws/devel/lib/libaubo_i3_moveit_kinematic_plugin.so] Error 1
CMakeFiles/Makefile2:2107: recipe for target 'aubo_robot/aubo_kinematics/CMakeFiles/aubo_i3_moveit_kinematic_plugin.dir/all' failed
make[1]: *** [aubo_robot/aubo_kinematics/CMakeFiles/aubo_i3_moveit_kinematic_plugin.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j6 -l6" failed

Ubuntu 16.04 (32bit)
ros kinetic

Issue with launching aubo_robot to command a real robot.

When I try to run roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.100.1
I receive the errors in the attached screenshot. I have no clue how to fix these errors. Any help would be much appreciated.

Robot fail to move after free up from collision

Description

In the latest AUBOPE releases, when the robot collide with the environment, the robot correctly stop and go automatically in Force Control Mode to free up the robot from the contact force that the collision caused.

However, we found that if we move the robot manually during Force Control Mode and try to plan end execute a new trajectory from the current state with MoveIt, this causes the robot Singularity Overspeed alarm instantly occur.

Environment

OS: Ubuntu 16.04
ROS: Kinetic

To reproduce the issue

1. Connect to a real AUBO i5 manipulator;
2. Launch ROS nodes: roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=<MY_ROBOT_IP>
3. Plan end execute a trajectory with MoveIt;
4. Block the robot to cause a Robot Collision event;
5. Move the robot as we would move it out of collision;
6. Plan end execute a new trajectory from the current state to another state;
7. Singularity Overspeed!

Error while lunch with Rviz

While use roslaunch moveit_planning_execution.launch robot_ip:=127.0.0.1 to lunch rviz, here occur a error.

/opt/ros/kinetic/lib/moveit_ros_move_group/move_group: error while loading shared libraries: libmoveit_robot_trajectory.so.0.9.15: cannot open shared object file: No such file or directory [move_group-6] process has died [pid 3479, exit code 127, cmd /opt/ros/kinetic/lib/moveit_ros_move_group/move_group __name:=move_group __log:=/home/dubq/.ros/log/957a5678-e28f-11e9-99ee-f0def166d64b/move_group-6.log].

I found there is a file libmoveit_robot_trajectory.so.0.9.17 in the directory opt\ros\kinetic\lib, not the needed libmoveit_robot_trajectory.so.0.9.15.

How to solve the problem? Thanks!

IKFast unable to run on aubo_i5.urdf

Hello,

I am trying to use IKFast to generate inverse kinematics for my Aubo i5 v4 robot. However, when I used the .DAE file (converted from aubo_i5.urdf), IKFast cannot run. It reported zero determinant matrices. I was able to run IKFast on v2 robot from (https://github.com/auboliuxin/aubo_robot). Could you check if there is something wrong with the urdf file. Thanks!

Cannot compiled in Ubuntu 16.04

I cannot compiled the repo.

Error is:

/usr/include/boost/bind/bind.hpp:313:35: error: no match for call to ‘(boost::mfi::mf1<void, industrial_robot_client::joint_trajectory_action::JointTrajectoryAction, actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction<std::allocator > >&>) (industrial_robot_client::joint_trajectory_action::JointTrajectoryAction*&, const actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator > >&)’
unwrapper::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_]);
^
In file included from /usr/include/boost/bind/mem_fn.hpp:215:0,

How to solve it?

ERROR:the following packages/stacks could not have their rosdep keys resolved to system dependencies

An error occurred when I entered the following command in my aubo_ws

larry@larry:~/aubo_ws$ rosdep install --from-paths . --ignore-src -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
aubo_robot: Cannot locate rosdep definition for [aubo_trajectory_filters]

How can I fix that?Please!

About aubo120

您好，后面的型号还会更新吗？

How can I compile it under Ubuntu 18.04?

How can I compile it under Ubuntu 18.04?

Does it aubo-e3 have inverse kinematics function?

I want to know if this package have aubo-e3 inverse kinematics function. When input a 3-demensinal space point , it can get the corresponding six joints value by using the inverse kinematics function

when I use catkin_make to compile under Noetic, some errors are occured.

Dear author, there is a problem about ROS Noetic operation that cannot be solved.

When I download the function package and put it into a workspace for compilation, the following errors occur:

[ 89%] Building CXX object aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp: In member function ‘virtual bool aubo_kinematics::AuboKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:105:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
  105 |   setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
      |                                                                                        ^
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/include/aubo_kinematics/aubo_moveit_plugin.h:28,
                 from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:14:
/opt/ros/noetic/include/moveit/kinematics_base/kinematics_base.h:345:31: note: declared here
  345 |   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
      |                               ^~~~~~~~~
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp: In member function ‘virtual bool aubo_kinematics::AuboKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:105:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
  105 |   setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
      |                                                                                        ^
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/include/aubo_kinematics/aubo_moveit_plugin.h:28,
                 from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:14:
/opt/ros/noetic/include/moveit/kinematics_base/kinematics_base.h:345:31: note: declared here
  345 |   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
      |                               ^~~~~~~~~
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/testAuboAPI.cpp:33:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp: In member function ‘bool aubo_driver::AuboDriver::setRobotJointsByMoveIt()’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp:327:1: warning: no return statement in function returning non-void [-Wreturn-type]
  327 | }
      | ^
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp: In member function ‘bool aubo_driver::AuboDriver::getFK(aubo_msgs::GetFKRequest&, aubo_msgs::GetFKResponse&)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp:829:1: warning: no return statement in function returning non-void [-Wreturn-type]
  829 | }
      | ^
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp: In member function ‘bool aubo_driver::AuboDriver::getIK(aubo_msgs::GetIKRequest&, aubo_msgs::GetIKResponse&)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp:846:1: warning: no return statement in function returning non-void [-Wreturn-type]
  846 | }
      | ^
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp: In member function ‘virtual bool aubo_kinematics::AuboKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:105:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
  105 | ion, group_name, base_frame, tip_frame, search_discretization);
      |                                                              ^

In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/include/aubo_kinematics/aubo_moveit_plugin.h:28,
                 from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:14:
/opt/ros/noetic/include/moveit/kinematics_base/kinematics_base.h:345:31: note: declared here
  345 |   [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
      |                               ^~~~~~~~~
[ 91%] Linking CXX shared library /home/gj/aubo_ws/devel/lib/libaubo_i5_moveit_kinematic_plugin.so
[ 92%] Linking CXX executable /home/gj/aubo_ws/devel/lib/aubo_driver/testAuboAPI
[ 92%] Built target aubo_i5_moveit_kinematic_plugin
Scanning dependencies of target testIO
[ 93%] Building CXX object aubo_robot-Noetic/aubo_driver/CMakeFiles/testIO.dir/src/testIO.cpp.o
[ 94%] Linking CXX shared library /home/gj/aubo_ws/devel/lib/libaubo_i3_moveit_kinematic_plugin.so
/usr/bin/ld: warning: libprotobuf.so.9, needed by /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::MessageLite'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageLite::ParseFromArray(void const*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::SkipField(google::protobuf::io::CodedInputStream*, unsigned int, google::protobuf::UnknownFieldSet*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::DescriptorPool::FindFileByName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteDouble(int, double, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::VerifyVersion(int, int, char const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::GeneratedMessageReflection::GeneratedMessageReflection(google::protobuf::Descriptor const*, google::protobuf::Message const*, int const*, int, int, int, google::protobuf::DescriptorPool const*, google::protobuf::MessageFactory*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteBool(int, bool, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::AddVarint(int, unsigned long)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteUInt32(int, unsigned int, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(google::protobuf::Descriptor const*, google::protobuf::Message const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::StringTypeHandlerBase::Delete(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::Message'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::CheckTypeAndMergeFrom(google::protobuf::MessageLite const&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::internal::FunctionClosure0'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::ReadString(google::protobuf::io::CodedInputStream*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::FunctionClosure0::~FunctionClosure0()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageLite::SerializeToArray(void*, int) const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::VarintSize32Fallback(unsigned int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageFactory::generated_factory()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadLittleEndian64Fallback(unsigned long*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(int, google::protobuf::MessageLite const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::InitEmptyString()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::DescriptorPool::generated_pool()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageFactory::InternalRegisterGeneratedFile(char const*, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&))'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogMessage::LogMessage(google::protobuf::LogLevel, char const*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::Skip(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadVarint64Fallback(unsigned long*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::BytesUntilLimit() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::empty_string_once_init_'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::ReadBytes(google::protobuf::io::CodedInputStream*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::ReflectionOps::Merge(google::protobuf::Message const&, google::protobuf::Message*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::StringTypeHandlerBase::New[abi:cxx11]()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadTagFallback()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::Closure'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::GetTypeName[abi:cxx11]() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::UnknownFieldSet()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteEnum(int, int, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::~Message()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogFinisher::operator=(google::protobuf::internal::LogMessage&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(google::protobuf::UnknownFieldSet const&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::WriteStringWithSizeToArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::RepeatedPtrFieldBase::Swap(google::protobuf::internal::RepeatedPtrFieldBase*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::DiscardUnknownFields()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::OnShutdown(void (*)())'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::GoogleOnceInitImpl(long*, google::protobuf::Closure*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::ClearFallback()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::InitializationErrorString[abi:cxx11]() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadRaw(void*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogMessage::~LogMessage()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadLittleEndian32Fallback(unsigned int*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::SpaceUsed() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::DescriptorPool::InternalAddGeneratedFile(void const*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `typeinfo for google::protobuf::Message'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::BytesUntilTotalBytesLimit() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::WriteVarint64ToArray(unsigned long, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::empty_string_[abi:cxx11]'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::PopLimit(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteInt32(int, int, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::~UnknownFieldSet()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadVarint32Fallback(unsigned int*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(google::protobuf::UnknownFieldSet const&, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::VerifyUTF8StringFallback(char const*, int, google::protobuf::internal::WireFormat::Operation, char const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::WriteVarint32FallbackToArray(unsigned int, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteString(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::MergeFrom(google::protobuf::UnknownFieldSet const&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteFloat(int, float, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::RepeatedPtrFieldBase::Reserve(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::PushLimit(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogMessage::operator<<(char const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::SerializeUnknownFields(google::protobuf::UnknownFieldSet const&, google::protobuf::io::CodedOutputStream*)'
collect2: error: ld returned 1 exit status
make[2]: *** [aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/build.make:101：/home/gj/aubo_ws/devel/lib/aubo_driver/testAuboAPI] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4707：aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 94%] Built target aubo_i3_moveit_kinematic_plugin
[ 96%] Linking CXX executable /home/gj/aubo_ws/devel/lib/aubo_driver/testIO
[ 96%] Built target testIO
[ 97%] Linking CXX shared library /home/gj/aubo_ws/devel/lib/libaubo_i10_moveit_kinematic_plugin.so
[ 97%] Built target aubo_i10_moveit_kinematic_plugin
make: *** [Makefile:141：all] 错误 2

aubo dual arm robot

hii
i am planning to do a project in aubo i5 dual arm manipulator. i am a new one to this robotics area. i didnt know how to cooperate the two arms of aubo i5 by ROS. what are the steps to do that?

missing libprotobuf.so.9 library

libprotobuf.so.9 missing. This is required when compiling aubo_driver

ROS Melodic

Will there be any support for ROS Melodic released?

ABORTED: Solution found but controller failed during execution

When I execute demo with real robot, I meet some errors，the details as follows:

How to read I/O pins throug ROS

How to read I/O pins through ROS
Any link /examples are available to read io pins through ROS
Version : kinetic

关于moveit控制真实机器人的安全性

你好，我有意向购买遨博协作机器人，并且可能使用ROS moveit控制它的运动。你们github的介绍里有这句话：
When operating an AUBO robot under ROS-Industrial control, make certain that no one is within the robot workspace and the e-stop is under operator control.

为什么用ROS控制之后，就不能有人站在机器人旁边？协作机器人不应该是可以和人一起工作的吗？

aubo_robot_simulator

aubo_controller\src\aubo_robot_simulator.cpp,我尝试取消注释编译这个文件报错，我完事是个noob，请问这是怎么一回事?

About using different version of moveit

Hello,
I find my moveit version is 0.9.18, but running aubo_i5_moveit_config gives the following error:

error while loading shared libraries: libmoveit_robot_trajectory.so.0.9.15: cannot open shared object file: No such file or directory

Is it possible to do minimal change to use the new version of moveit? Or the better way to install the old version of moveit? I am very appreciate for your advice.

Thanks.

Controlling Aubo i5 using joint velocities

I am doing a visual servoing project in Aubo i5 robot. I need to control the robot based on visual servoing outputs from the camera. I have obtained both joint velocities and end effector velocities through visual servoingand robot jacobian. Is it possible to control Aubo i5 using joint velocities ?

Unable to determine destination IP of robot

EDITED: This was a really silly question, I'm embarrased to even leave it up 😳

How can I get the joint_state?

I just run the moveit_planning_execution.launch and it runs successfully in moving and planning, with connected rqt graph. However, I just build a new python node to subscribe the topic /joint_state, I just always get the empty information, such as position: [0,...,0], velocity: [], effort: []. Can you provide any information?

Also, actually I want to measure the force and torque for the each joint. I just find a way by using current value, joint and joint velocity. Can you give any suggestions about this? (better way, or how can I get the current value).

Thanks very much.

kinetic launch gazebo error:GazeboRosControlPlugin missing <legacyModeNS>

ros kinetic branch:
when launch gazebo aubo_i5 simulation,in the following error:
GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true. This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead. If you do not want to fix this issue in an old package just set <legacyModeNS> to true.

fixed:gazebo_ros_control-plugin-gazeboroscontrolplugin-missing-legacymodens-defaultrobothwsim

step:
roscd aubo_gazebo/urdf/
gedit aubo_i5.xacro
modified to:

  <!-- ros_control plugin -->
  <gazebo>
      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
          <robotNamespace>/aubo_i5</robotNamespace>
          <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
          <legacyModeNS>true</legacyModeNS>
      </plugin>
  </gazebo>

relaunch the rviz and gazebo :
rviz

    1.roslaunch <robot_name>_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1  

gazebo

    2.roslaunch aubo_gazebo aubo_<robot_name>_gazebo_control.launch

Getting started

How to get started? What is the status? Is it usable yet?

Could you provide some kind of getting started like: http://wiki.ros.org/aubo_robot/Tutorials/Getting%20Started%20with%20a%20Aubo%20Robot

aubo_control package can't catkin make successfully

/usr/bin/ld: 找不到 -lindustrial_robot_client
collect2: error: ld returned 1 exit status
aubo_robot/aubo_controller/CMakeFiles/aubo_joint_trajectory_action.dir/build.make:122: recipe for target '/home/wpr/catkin_aubo/devel/lib/aubo_controller/aubo_joint_trajectory_action' failed
make[2]: *** [/home/wpr/catkin_aubo/devel/lib/aubo_controller/aubo_joint_trajectory_action] Error 1
CMakeFiles/Makefile2:5332: recipe for target 'aubo_robot/aubo_controller/CMakeFiles/aubo_joint_trajectory_action.dir/all' failed
make[1]: *** [aubo_robot/aubo_controller/CMakeFiles/aubo_joint_trajectory_action.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

aubo_i3.xacro file

I found the aubo_i3.xacro file is different from i5 and i10 , is anything wrong with it? when I change the i3 file using i5.xacro's form, I found it works!

Inquire for the D-H parameter model.jpg

Hello, it's my honor to have this issue.
I think there is something wrong in the picture which is named DH model .jpg and the x Aixs of 5th coordinate has the wrong direction. Because the modified D-H param will use the z Aixs of next coordinate to cross the z Axis of present coordinate and it will turn perpendicular to the plane inward Would you like to help me to verify it?
Thanks.

I try to use robot teach mode but robot don't move

did i do something wrong or misunderstand?

Compile failed - problem # 1

Hi lg609,
I was trying to compile. Source code was git-cloned to ~/proj/ros/catkin/src. Then run catkin_make at ~/proj/ros/catkin. The first problem I ran into is this... (Please help, it's been bothering me for a week now.)

[ 93%] Building CXX object aubo_robot/aubo_driver/CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o
[ 96%] Building CXX object aubo_robot/aubo_driver/CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o
In file included from /opt/ros/indigo/include/ros/ros.h:40:0,
from /home/wangs/proj/ros/catkin_ws/src/aubo_robot/aubo_driver/include/aubo_driver/aubo_driver.h:30,
from /home/wangs/proj/ros/catkin_ws/src/aubo_robot/aubo_driver/src/testAuboAPI.cpp:32:
/home/wangs/proj/ros/catkin_ws/src/aubo_robot/aubo_driver/src/testAuboAPI.cpp: In function ‘void testMoveJ(aubo_driver::AuboDriver&)’:
/opt/ros/indigo/include/ros/console.h:343:176: warning: format ‘%s’ expects argument of type ‘char*’, but argument 8 has type ‘int’ [-Wformat=]
::ros::console::print(filter, _rosconsole_define_location__loc.logger, _rosconsole_define_location__loc.level, FILE, LINE, ROSCONSOLE_FUNCTION, VA_ARGS)

编译以及通信成功，但是运行moveit文件出现问题

运行：roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.64.7
这是刚运行moveit的时候报错：
[aubo_driver-4] process has died [pid 6260, exit code 127, cmd /home/wuwei/aubo_ws/devel/lib/aubo_driver/aubo_driver __name:=aubo_driver __log:=/home/wuwei/.ros/log/1e590242-c32d-11ed-9a8b-3c2c30ad6efa/aubo_driver-4.log].
log file: /home/wuwei/.ros/log/1e590242-c32d-11ed-9a8b-3c2c30ad6efa/aubo_driver-4*.log
还有警告：
[ WARN] [1678883407.764479356]: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world'
[ WARN] [1678883408.719776610]: Trajectory state not received for 1.000000 seconds
[ WARN] [1678883430.226436358]: Failed to fetch current robot state.
[ WARN] [1678883434.740543938]: Failed to validate trajectory: couldn't receive full current joint state within 1s
然后进入RVIZ后，里面的机械臂并不与现实机械臂同一个位置，对RVIZ里面的机械臂进行plan and excute 真实机械臂并没有反应

Not able to simulate the planned moveit path in gazebo

I am trying to simulate the aubo i5 arm using ROS MoveIt in Gazebo. Initially, I am able to plan the path movement of my arm. But once I click on "Execute", it shows me

[ERROR] [1667725586.193688574, 20.055000000]: Unable to identify any set of controllers that can actuate the specified joints: [ foreArm_joint shoulder_joint upperArm_joint wrist1_joint wrist2_joint wrist3_joint ]
[ERROR] [1667725586.193709294, 20.055000000]: Known controllers and their joints:

I have tried a lot of things centered around this discussion but nothing is working. Any help would be appreciated. The necessary files are below:
ros_controllers.yaml

 auboi5_controller:
  type: position_controllers/JointTrajectoryController
  default: True
  joints:
    - foreArm_joint
    - shoulder_joint
    - upperArm_joint
    - wrist1_joint
    - wrist2_joint
    - wrist3_joint
  gains:
    foreArm_joint:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    shoulder_joint:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    upperArm_joint:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    wrist1_joint:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    wrist2_joint:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
    wrist3_joint:
      p: 100
      d: 1
      i: 1
      i_clamp: 1
controller_list:
  - name: auboi5_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: True
    joints:
      - foreArm_joint
      - shoulder_joint
      - upperArm_joint
      - wrist1_joint
      - wrist2_joint
      - wrist3_joint

gazebo_controllers.yaml

 # Publish joint_states
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

simple_moveit_controllers.yaml

 controller_list:
  - name: auboi5_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: True
    joints:
      - foreArm_joint
      - shoulder_joint
      - upperArm_joint
      - wrist1_joint
      - wrist2_joint
      - wrist3_joint

demo_gazebo.launch

<launch>

<!--specify the planning pipeline-->

<arg name="pipeline" default="ompl" />


<!-- Gazebo specific options -->

<arg name="gazebo_gui" default="true"/>

<arg name="paused" default="false"/>

<!-- launch the gazebo simulator and spawn the robot -->

<include file="$(dirname)/gazebo.launch">

<arg name="paused" value="$(arg paused)"/>

<arg name="gazebo_gui" value="$(arg gazebo_gui)"/>

</include>

<include file="$(dirname)/demo.launch" pass_all_args="true">

<!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->

<arg name="load_robot_description" value="false" />

<arg name="moveit_controller_manager" value="ros_control" />

</include>

<node name="ros_control_moveit_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
      output="screen" args="spawn joint_state_controller auboi5_controller" />

</launch>

demo.launch

<launch>

<!-- specify the planning pipeline -->

<arg name="pipeline" default="ompl" />

<!-- By default, we do not start a database (it can be large) -->

<arg name="db" default="false" />

<!-- Allow user to specify database location -->

<arg name="db_path" default="$(find aubo_moveit)/default_warehouse_mongo_db" />

<!-- By default, we are not in debug mode -->

<arg name="debug" default="false" />

<!-- By default, we will load or override the robot_description -->

<arg name="load_robot_description" default="true"/>

<!-- Choose controller manager: fake, simple, or ros_control -->

<arg name="moveit_controller_manager" default="fake" />

<!-- Set execution mode for fake execution controllers -->

<arg name="fake_execution_type" default="interpolate" />

<!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->

<arg name="use_gui" default="false" />

<arg name="use_rviz" default="true" />

<!-- If needed, broadcast static tf for robot root -->

<group if="$(eval arg('moveit_controller_manager') == 'fake')">

<!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">

<rosparam param="source_list">[move_group/fake_controller_joint_states]></rosparam>

</node>

<!-- If desired, a GUI version is available allowing to move the simulated robot around manually
         This corresponds to moving around the real robot without the use of MoveIt. ->

<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"*gt;

<rosparam param="source_list">[move_group/fake_controller_joint_states]></rosparam>

</node>

<!-- Given the published joint states, publish tf for the robot links -->

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

</group>

<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->

<include file="$(dirname)/move_group.launch">

<arg name="allow_trajectory_execution" value="true"/>

<arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />

<arg name="fake_execution_type" value="$(arg fake_execution_type)"/>

<arg name="info" value="true"/>

<arg name="debug" value="$(arg debug)"/>

<arg name="pipeline" value="$(arg pipeline)"/>

<arg name="load_robot_description" value="$(arg load_robot_description)"/>

</include>

<!-- Run Rviz and load the default config to see the state of the move_group node -->

<include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">

<arg name="rviz_config" value="$(dirname)/moveit.rviz"/>

<arg name="debug" value="$(arg debug)"/>

</include>

<!-- If database loading was enabled, start mongodb as well -->

<include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">

<arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>

</include>

</launch>

gazebo.launch

<?xml version="1.0"?>

<launch>

<arg name="paused" default="false"/>

<arg name="gazebo_gui" default="true"/>

<arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
       default=" -J foreArm_joint 0 -J shoulder_joint 0 -J upperArm_joint 0 -J wrist1_joint 0 -J wrist2_joint 0 -J wrist3_joint 0"/>

<!-- startup simulated world -->

<include file="$(find gazebo_ros)/launch/empty_world.launch">

<arg name="world_name" default="worlds/empty.world"/>

<arg name="paused" value="true"/>

<arg name="gui" value="$(arg gazebo_gui)"/>

</include>

<!-- send robot urdf to param server -->

<param name="robot_description" textfile="$(find aubo)/urdf/aubo_i5.urdf" />

<!-- unpause only after loading robot model -->

<arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />

<!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->

<arg name="world_pose" value="-x 0 -y 0 -z 0" />

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
    respawn="false" output="screen" />

<!-- Load joint controller parameters for Gazebo -->

<rosparam file="$(find aubo_moveit)/config/gazebo_controllers.yaml" />

<!-- Spawn Gazebo ROS controllers -->

<node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller auboi5_controller" />

<!-- Load ROS controllers -->

<include file="$(dirname)/ros_controllers.launch"/>

</launch>

ros_controllers.launch

<?xml version="1.0"?>

<launch>

<!-- Load joint controller configurations from YAML file to parameter server -->

<rosparam file="$(find aubo_moveit)/config/ros_controllers.yaml" command="load"/>

<!-- Load the controllers -->

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" args="joint_state_controller auboi5_controller"/>

</launch>

ros_control_moveit_controller_manager.launch.xml

<launch>

<!-- Define MoveIt controller manager plugin -->

<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />

<!-- Load controller list to the parameter server -->

<rosparam file="$(find aubo_moveit)/config/simple_moveit_controllers.yaml" />

<
</launch>

moveit_rviz.launch

<launch>

<arg name="debug" default="false" />

<arg unless="$(arg debug)" name="launch_prefix" value="" />

<arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

<arg name="rviz_config" default="" />

<arg     if="$(eval rviz_config=='')" name="command_args" value="" />

<arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />

<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
        args="$(arg command_args)" output="screen">

</node>

</launch>

aubo_i5 port

Hi,
in code there are port 8899 but our robot has listening only on port 8887.

About the Force Control development of AUBOrobot # 关于AUBO机器人的力控开发

Dear teacher,
I am focusing on the Force Control during my project, such as polishing、force keeping and compliant control，，，I have some question about the code of python SDK.I don't find any code of continuous control or compliant control, which bring great challenge to my research.So, I want your help.
I am looking forwards to your reply.
#亲爱的老师，我在项目中专注于力控，比如打磨、恒力和柔顺控制，，，我对python SDK的代码有一些疑问。我没有发现任何持续控制或柔顺控制的代码，这给我的研究带来了很大的挑战。所以，我需要您的帮助。期待您的回复。

ros noetic under ubuntu20.04 or ros2 be supported?

When will ros noetic under ubuntu20.04 or ros2 be supported?

Cobot executes MoveIt planning once, then refuses any more planning executions

Hello. I'm working on a project that uses the Aubo i5. The code depends on MoveIt. I have a function that sets a Pose that's used as its goal, passes it to the MoveGroupCommander using the class's set_pose_target function, and plans a route for the end effector to this goal, and then executes the planning. This works perfectly in a simulation, but when trying to control an actual robot, it doesn't. When I call my function for the first time, the robot works perfectly. But if I call the same function again, nothing happens. A plan is made, but I then get a timeout. If I then restart all of my software, I can make another movement, but then need to restart all the software again. I don't need to restart the Aubo i5 itself, just the software on my laptop.

To launch my program, I need to execute the following command: "roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.1.10". This launches the control software for the robot. I then run "rosrun robotao move_group_subpub.py", which is my own code that does the planning and execution. This program listens to a topic on which and x, y, and z is published, which are the coordinates of the goal.

Here is the code for planning and execution:

def go_to_pose_goal_input(self,x,y,z): # Copy class variables to local variables to make the web tutorials more clear. # In practice, you should use the class variables directly unless you have a good # reason not to. group = self.group

## BEGIN_SUB_TUTORIAL plan_to_pose
##
## Planning to a Pose Goal
## ^^^^^^^^^^^^^^^^^^^^^^^
## We can plan a motion for this group to a desired pose for the
## end-effector:
orientation = tf.transformations.quaternion_from_euler(pi, 0.0, -pi/2)
pose_goal = geometry_msgs.msg.Pose()
pose_goal.orientation.x = orientation[0]
pose_goal.orientation.y = orientation[1]
pose_goal.orientation.z = orientation[2]
pose_goal.orientation.w = orientation[3]
#pose_goal.orientation.w = 1.0
pose_goal.position.x = x
pose_goal.position.y = y
pose_goal.position.z = z
group.set_pose_target(pose_goal)

## Now, we call the planner to compute the plan and execute it.
plan = group.go(wait=True)
# Calling `stop()` ensures that there is no residual movement
group.stop()
# It is always good to clear your targets after planning with poses.
# Note: there is no equivalent function for clear_joint_value_targets()
group.clear_pose_targets()

## END_SUB_TUTORIAL

# For testing:
# Note that since this section of code will not be included in the tutorials
# we use the class variable rather than the copied state variable
current_pose = self.group.get_current_pose().pose
return all_close(pose_goal, current_pose, 0.01)

group refers to a moveit_commander.MoveGroupCommander object.

Below is part of the output from moveit_planning_execution.launch. Things prefaced by dashes are commands that I put in in-between. Multiple newlines represent that a small amount of time (some seconds) passed in between outputs.

 You can start planning now!

[ INFO] [1572254135.576545228]: Loading robot model 'aubo_i5'...
[ WARN] [1572254135.576735364]: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1572254135.576792087]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1572254135.863134193]: Loading robot model 'aubo_i5'...
[ WARN] [1572254135.863393023]: Skipping virtual joint 'base_link' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1572254135.863499809]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1572254136.634436635]: Starting scene monitor
[ INFO] [1572254136.637862616]: Listening to '/move_group/monitored_planning_scene'
[ WARN] [1572254136.826878576]: The STL file 'package://aubo_description/meshes/aubo_i5/collision/pedestal.STL' is malformed. It starts with the word 'solid', indicating that it's an ASCII STL file, but it does not contain the word 'endsolid' so it is either a malformed ASCII STL file or it is actually a binary STL file. Trying to interpret it as a binary STL file instead.
[ INFO] [1572254137.583064467]: Constructing new MoveGroup connection for group 'manipulator_i5' in namespace ''
[ INFO] [1572254138.618141296]: Ready to take commands for planning group manipulator_i5.
[ INFO] [1572254138.618220385]: Looking around: no
[ INFO] [1572254138.618253950]: Replanning: no
[ WARN] [1572254138.626816772]: Interactive marker 'EE:goal_wrist3_Link' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.




-----running command 1:
-----rostopic pub  -1 /cobot/gripper_coordinate robotao/GripperCoordinate "x_axis: 0.5
-----y_axis: 0.5
-----z_axis: 0.15"

[ INFO] [1572254205.942548362]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1572254205.943270698]: Planning attempt 1 of at most 1
[ INFO] [1572254205.945152438]: Planner configuration 'manipulator_i5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1572254205.945789626]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1572254205.975153380]: RRTConnect: Created 5 states (3 start + 2 goal)
[ INFO] [1572254205.975310303]: Solution found in 0.029709 seconds
[ INFO] [1572254205.987476023]: SimpleSetup: Path simplification took 0.011721 seconds and changed from 4 to 2 states
[ INFO] [1572254207.660722688]: Completed trajectory execution with status SUCCEEDED ...
[ INFO] [1572254207.792242631]: Received event 'stop'
[ERROR] [1572254207.792277171]: To transition to an aborted state, the goal must be in a preempting or active state, it is currently in state: 3




-----running command 2:
-----rostopic pub  -1 /cobot/gripper_coordinate robotao/GripperCoordinate "x_axis: 0.5
-----y_axis: 0.5
-----z_axis: 0.15" 

[ INFO] [1572254268.117640714]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ INFO] [1572254268.117803953]: Planning attempt 1 of at most 1
[ INFO] [1572254268.118522298]: Planner configuration 'manipulator_i5' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1572254268.118714775]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1572254268.169308951]: RRTConnect: Created 16 states (14 start + 2 goal)
[ INFO] [1572254268.169494051]: Solution found in 0.050825 seconds
[ INFO] [1572254268.184387746]: SimpleSetup: Path simplification took 0.014642 seconds and changed from 3 to 2 states



[ERROR] [1572254273.416677157]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 5.217249 seconds). Stopping trajectory.
[ INFO] [1572254273.417050084]: Cancelling execution for aubo_i5_controller
[ INFO] [1572254273.417317368]: Completed trajectory execution with status TIMED_OUT ...
[ INFO] [1572254273.588281928]: Received event 'stop'
[ERROR] [1572254273.588294589]: To transition to an aborted state, the goal must be in a preempting or active state, it is currently in state: 2

I have also tried to run the MoveIt tutorials with the Aubo i5 robot. In this instance, I've cloned the MoveIt tutorials from https://github.com/ros-planning/moveit_tutorials. Then in moveit_tutorials/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py I commented out line 170: joint_goal[6] = 0, and changed the line 105 group_name = "panda_arm" to group_name = "manipulator_i5". I then run "roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.1.10", followed by "rosrun moveit_tutorials move_group_python_interface_tutorial.py". Again, I get time_outs and the robot refuses to do anything.

For some reason, if I only use Rviz, I can move the robot multiple times. Everything goes well. But as soon as I try to automate anything, the robot can only execute one movement plan, then ceases to respond. Once it's in the timeout state, it also won't respond to Rviz anymore.

aubo_i3_moveit_config/config/kinematics.yaml

should change the name manipulator to manipulator_i3,am right?