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View Code? Open in Web Editor NEWUniversal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers
Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers
hi,is there someone work it out using melodic?
Hi all hope you all are doing great.
I have this error:
not single time but multiple times. also some more:
[robot_state_publisher-4] process has died [pid 10139, exit code 255, cmd /opt/ros/kinetic/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/ros/.ros/log/eed9c1bc-a5ca-11ec-a955-d80f997b25c9/robot_state_publisher-4.log]. log file: /home/ros/.ros/log/eed9c1bc-a5ca-11ec-a955-d80f997b25c9/robot_state_publisher-4.log [ur5_mp-14] process has died [pid 10216, exit code 1, cmd /home/ros/ur_ws/src/ur5_ROS-Gazebo/ur5_mp.py /follow_joint_trajectory:=/arm_controller/follow_joint_trajectory __name:=ur5_mp __log:=/home/ros/.ros/log/eed9c1bc-a5ca-11ec-a955-d80f997b25c9/ur5_mp-14.log]. log file: /home/ros/.ros/log/eed9c1bc-a5ca-11ec-a955-d80f997b25c9/ur5_mp-14.log
I am using this git repository:
https://github.com/lihuang3/ur5_ROS-G...
I tried following this tutorial , I had an issue of ur_hardware_interface which this git addresses and I was able to solve it. the error new I am facing (i.e. failed to build tree), i have searched it and found solutions on it but not specific to my case and theirs dont apply to my case.
here is my initialize.launch :
and here is my ur5_joint_limited_robot.urdf.xacro: (modified according to the git)
<robot <a="" href="http://xmlns:xacro="http://wiki.ros.org/xacro">xmlns:xacro="http://wiki.ros.org/xacro" name="ur5" ><="" p="">
<xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/>
<xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro"/>
<xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro"/>
<xacro:macro name="ur5_robot" params="prefix joint_limited shoulder_pan_lower_limit:=${-2pi} shoulder_pan_upper_limit:=${2pi} shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} transmission_hw_interface:=hardware_interface/PositionJointInterface"/>
Please advise with this issue, also Please answer these questions: 1. why do a failed to build tree error occures? 2. how doee one ensure a urdf is correctly made? 3. Any tips on how to remove the warning: inconsistent namespace redefinitions for xmlns:xacro
I know we can run things with warning so you may not answer the last question.
I am new to ROS,, if I want to run in a real ur robot,how can I start?
Hi,lihuang3,when i run roslaunch ur5_notebook initialize.launch i can see the whole models,but my arm can't move ,and the camera window can appear but there is no image.Also there ia an error :
[ur5_mp-15] process has died [pid 3924, exit code 1, cmd /home/just17/catkin_ws/src/ur5_ROS-Gazebo-master/ur5_mp.py /follow_joint_trajectory:=/arm_controller/follow_joint_trajectory __name:=ur5_mp __log:=/home/just17/.ros/log/3f6e8a5e-8206-11e9-a337-000c2900ddbe/ur5_mp-15.log].
log file: /home/just17/.ros/log/3f6e8a5e-8206-11e9-a337-000c2900ddbe/ur5_mp-15.log*
I am very intersted about it and try many times . how can i deal with this error and move my arm ? Looking forward to your reply.Thank you very much
Hello. I'm in the process of implementing vacuum suction by referring to some of the open sources here. I referenced a lot in urdf, gazebo's xacro, and node files, but the object should stick to the wall, but it keeps falling off. I'll give you the attached file, can you take a look? I'd like to attach the source code, but it's too many, so I'm attaching the package files I'm working on.
The parts to look at are:
climbbot.urdf.xacro
climbbot.gazebo.xacro
climbbot_gripper.py
wall_test1.launch (gazebo executable file)
Hello LiHuang:
I can't understand this code as follows:
def tracking_callback(self, msg):
self.track_flag = msg.flag1
self.cx = msg.x
self.cy = msg.y
self.error_x = msg.error_x
self.error_y = msg.error_y
if len(self.pointx)>9:
self.track_flag = True
if self.phase == 2:
self.track_flag = False
self.phase = 1
if (self.track_flag and -0.6 < self.waypoints[0].position.x and self.waypoints[0].position.x < 0.6):
self.execute()
self.default_pose_flag = False
else:
if not self.default_pose_flag:
self.track_flag = False
self.execute()
self.default_pose_flag = True
def execute(self):
if self.track_flag:
# Get the current pose so we can add it as a waypoint
start_pose = self.arm.get_current_pose(self.end_effector_link).pose
# Initialize the waypoints list
self.waypoints= []
# Set the first waypoint to be the starting pose
# Append the pose to the waypoints list
wpose = deepcopy(start_pose)
# wpose.position.x = -0.5215
# wpose.position.y = 0.2014
# wpose.position.z = 0.4102
if len(self.pointx)>8:
if len(self.pointx)==9:
x_speed = np.mean(np.asarray(self.pointx[4:8]) - np.asarray(self.pointx[3:7]))
wpose.position.x += 2 * x_speed
wpose.position.z = 0.05
what's mean of the self.phase and the self.pointsx. And in the tracking_callback(), There are four "if" statements,I can't understand how do these three conditional statements work?
when i roslaunch ur5_notebook initialize.launch , termina output :
[ERROR] [1536718588.484370847, 2.176000000]: SpawnModel: Failure - entity format is invalid.
[ERROR] [1536718588.484485184, 2.176000000]: fail to connect with gazebo server
Does anyone know how to solve this problem?
i faced a problem in melodic
TF Problem: Invalid argument "/base_link" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
I fix it by changing reference_farame = "/base_link"
to "reference_farame = "base_link"
in ur_mp.py
I finished the preparation work according to your description, but there is no universal_robot. Why?
Hello,
Hello, I can't understand the value of pointx[], where its value come from?
Does anyone have the same for ros-noetic?
I was looking for a solution based on the last post(#47). As a result of searching for the cause of not sticking to the wall, it was inferred that the vacuum gripper's plugin did not work properly, and it was confirmed through the test model (In the picture above, the red cylinder is the gripper link, and this link should pull the blue box).
In the picture above, can you tell me where I need to improve for the gripper plugin to work? The source code is below.
----urdf.xacro code-----
Hi!
I am having problems running testmotion.py.
This is what happens:
laurah@laurah-HP-EliteBook-840-G1:~/catkin_ws$ catkin_make
Base path: /home/laurah/catkin_ws
Source space: /home/laurah/catkin_ws/src
Build space: /home/laurah/catkin_ws/build
Devel space: /home/laurah/catkin_ws/devel
Install space: /home/laurah/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/laurah/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/laurah/catkin_ws/build"
####
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target _ur_msgs_generate_messages_check_deps_IOStates
[ 0%] Built target _ur_msgs_generate_messages_check_deps_MasterboardDataMsg
[ 0%] Built target _ur_msgs_generate_messages_check_deps_Analog
[ 0%] Built target _ur_msgs_generate_messages_check_deps_RobotModeDataMsg
[ 0%] Built target _ur_msgs_generate_messages_check_deps_Digital
[ 0%] Built target _ur_msgs_generate_messages_check_deps_ToolDataMsg
[ 0%] Built target _ur_msgs_generate_messages_check_deps_SetIO
[ 0%] Built target std_msgs_generate_messages_nodejs
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[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target _ur_msgs_generate_messages_check_deps_SetPayload
[ 1%] Built target blocks_poses_publisher
[ 3%] Built target blocks_spawner
[ 5%] Built target ur_driver_gencfg
[ 5%] Built target industrial_msgs_generate_messages_lisp
[ 5%] Built target _ur5_notebook_generate_messages_check_deps_Tracker
[ 5%] Built target _ur5_notebook_generate_messages_check_deps_blocks_poses
[ 5%] Built target _catkin_empty_exported_target
[ 5%] Built target sensor_msgs_generate_messages_py
[ 5%] Built target std_srvs_generate_messages_eus
[ 5%] Built target geometry_msgs_generate_messages_py
[ 5%] Built target geometry_msgs_generate_messages_eus
[ 5%] Built target roscpp_generate_messages_cpp
[ 5%] Built target sensor_msgs_generate_messages_nodejs
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[ 5%] Built target trajectory_msgs_generate_messages_lisp
[ 5%] Built target trajectory_msgs_generate_messages_eus
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[ 5%] Built target sensor_msgs_generate_messages_eus
[ 5%] Built target geometry_msgs_generate_messages_cpp
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[ 5%] Built target trajectory_msgs_generate_messages_cpp
[ 5%] Built target rosgraph_msgs_generate_messages_lisp
[ 5%] Built target roscpp_generate_messages_nodejs
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[ 5%] Built target std_srvs_generate_messages_py
[ 5%] Built target roscpp_generate_messages_lisp
[ 5%] Built target roscpp_generate_messages_eus
[ 5%] Built target roscpp_generate_messages_py
[ 5%] Built target rosgraph_msgs_generate_messages_cpp
[ 5%] Built target rosgraph_msgs_generate_messages_eus
[ 5%] Built target std_srvs_generate_messages_nodejs
[ 5%] Built target rosgraph_msgs_generate_messages_nodejs
[ 5%] Built target geometry_msgs_generate_messages_nodejs
[ 5%] Built target sensor_msgs_generate_messages_lisp
[ 5%] Built target industrial_msgs_generate_messages_cpp
[ 5%] Built target controller_manager_msgs_generate_messages_nodejs
[ 5%] Built target control_msgs_generate_messages_nodejs
[ 5%] Built target tf_generate_messages_eus
[ 5%] Built target control_msgs_generate_messages_py
[ 5%] Built target actionlib_msgs_generate_messages_py
[ 5%] Built target actionlib_msgs_generate_messages_lisp
[ 5%] Built target control_msgs_generate_messages_eus
[ 5%] Built target actionlib_msgs_generate_messages_eus
[ 5%] Built target industrial_msgs_generate_messages_eus
[ 5%] Built target actionlib_generate_messages_lisp
[ 5%] Built target actionlib_generate_messages_eus
[ 5%] Built target tf_generate_messages_cpp
[ 5%] Built target controller_manager_msgs_generate_messages_cpp
[ 5%] Built target controller_manager_msgs_generate_messages_eus
[ 5%] Built target tf2_msgs_generate_messages_eus
[ 5%] Built target actionlib_generate_messages_py
[ 5%] Built target actionlib_generate_messages_cpp
[ 5%] Built target tf2_msgs_generate_messages_py
[ 5%] Built target control_msgs_generate_messages_lisp
[ 5%] Built target actionlib_msgs_generate_messages_nodejs
[ 5%] Built target controller_manager_msgs_generate_messages_lisp
[ 5%] Built target control_msgs_generate_messages_cpp
[ 5%] Built target industrial_msgs_generate_messages_py
[ 5%] Built target industrial_msgs_generate_messages_nodejs
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[ 5%] Built target tf2_msgs_generate_messages_lisp
[ 5%] Built target tf2_msgs_generate_messages_cpp
[ 7%] Built target ur_hardware_interface
[ 7%] Built target actionlib_generate_messages_nodejs
[ 7%] Built target actionlib_msgs_generate_messages_cpp
[ 10%] Built target ur10_kin
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[ 25%] Built target ur_msgs_generate_messages_cpp
[ 34%] Built target ur_msgs_generate_messages_nodejs
[ 46%] Built target ur_msgs_generate_messages_py
[ 55%] Built target ur_msgs_generate_messages_lisp
[ 65%] Built target ur_msgs_generate_messages_eus
[ 68%] Built target ur5_notebook_generate_messages_nodejs
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[100%] Built target ur_msgs_generate_messages
[100%] Built target ur5_notebook_generate_messages
laurah@laurah-HP-EliteBook-840-G1:~/catkin_ws$ source devel/setup.bash
laurah@laurah-HP-EliteBook-840-G1:~/catkin_ws$ rosrun ur5_ROS-Gazebo testmotion.py
[rospack] Error: package 'ur5_ROS-Gazebo' not found
laurah@laurah-HP-EliteBook-840-G1:~/catkin_ws$
I installed the package in my catkin_ws/src folder using "git clone https://github.com/lihuang3/ur5_ROS-Gazebo.git"
Why won't it find the package?
Hi,lihuang3.Thank you very much for your excellent work.Still,I would like to know how to let the robot arm move to grasp the red box after the "roslaunch ur5_notebook initialize.launch".
I am still a rockie to this ROS area.Can you tell me which file should I execute? Looking forward to your reply.Thank you very much
hey,lihuang!I just want to control the speed of the arm in gazebo by the jacobian matrix.i find you in blocks_spawner.cpp to control the red_box speed,do you have some examples just use code to control the speed of control in gazebo? I am in this trouble for a long time.
hello, i use melodic,but error occurs。
RLException: while processing /home/xiong/ur5_ws/src/universal_robot/ur_description/launch/ur5_upload.launch:
Invalid tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '--inorder', '/home/xiong/ur5_ws/src/universal_robot/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro', 'transmission_hw_interface:=hardware_interface/PositionJointInterface']] returned with code [2].
Param xml is
The traceback for the exception was written to the log file
i hope someone can help me,please
Originally posted by @learningxiaobai in #13 (comment)
I notised that there is nly a publisher for cylinder position but the model in the gazebo is red box?
Hello Lihuang:
I had followed your steps and installed all the package which in the readme, but how can I get the same effect after I had executed the step of "roslaunch ur5_notebook initialize.launch".But the ur5 remained static, it can't grasp the red box.
在我的仿真环境中没有显示深度相机的画面 ,请问 是我需要装什么东西吗
Hello,
When I run the roslauch ur5_notebook initialize.launch,the error occur as follows:
ERROR: cannot launch node of type [ur5_notebook/ur5_vision.py]: can't locate node [ur5_vision.py] in package [ur5_notebook]
ERROR: cannot launch node of type [ur5_notebook/ur5_mp.py]: can't locate node [ur5_mp.py] in package [ur5_notebook]
ERROR: cannot launch node of type [ur5_notebook/ur5_gripper.py]: can't locate node [ur5_gripper.py] in package [ur5_notebook]
why? I run the same code in another computer is normal.
Hi,lihuang3,I want to adjust the speed of the red box and the arm.I have tried modify the configuration file(joint_limits.yaml),the robot arm can grab the box,but then it fell off.I hope the box and arm can move fast,but now I don't know how to make it.Hope then you can give some suggestions,thanks.
Hi, lihuang. I'm new to ROS and interested in your project,
because I wanna simulate picking process with vacuum gripper.
But when I launch initialize.launch
, the robot arm doesn't pick the red boxes though it detects them.
It just goes to the placing position with empty hand and stays still.
I think the error messages involved are these.
[ INFO] [1591681700.942636701, 17.686000000]: Received request to compute Cartesian path
[ERROR] [1591681700.942913192, 17.686000000]: TF Problem: Invalid argument "/base_link" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
[ERROR] [1591681700.942986402, 17.686000000]: Error encountered transforming waypoints to frame 'world'
[INFO] [1591681700.943591, 17.687000]: Path planning failed
As I'm using melodic, I thought there could be some errors but can you help me with it?
The moveit software was deleted by mistake due to the installation of other software,After I reinstalled it, I found that gazebo could display scene objects, but the camera window did not appear and did not grab them. What's the matter? Did I delete the software that opened the window by mistake?
Looking forward to your reply
Hi! I have seen your video of pick and place demo using UR5 and vacuum gripper from youtube.
This is a nice work and we are very interesting!!
Recently we want to use vacuum gripper in gazebo simulator, but we get some problem.
We can load plugin to simulator and trigger it, but sometime vacuum gripper can’t grasp object in gazebo.
We’d like to ask you some questions:
<maxDistance>0.05</maxDistance>
<minDistance>0.01</minDistance>
Thanks for providing useful example on github!
Hi hope you all well.
When i run the code i got warn about the complete gripper_status is unknown, missing gripper_joint --- gripper_joint8.
and I test the gripper.py the msg.data always show as false. I don't know if my robot is not set up well from moveit-config or did I miss something? Thank you!
Hello,
I hope you and everyone in your family are doing great. I have followed the installation instructions to setup the workspace for this repository, however I was encountered with the following error when attempting to launch the file of the simulation:
no such file or directory: /home/cocp5/catkin_ws/src/universal_robot/ur_description/urdf/common.gazebo.xacro [Errno 2] No such file or directory: '/home/cocp5/catkin_ws/src/universal_robot/ur_description/urdf/common.gazebo.xacro
Further to that I also received the following message:
o such file or directory: /home/cocp5/catkin_ws/src/universal_robot/ur_description/urdf/common.gazebo.xacro [Errno 2] No such file or directory: '/home/cocp5/catkin_ws/src/universal_robot/ur_description/urdf/common.gazebo.xacro
In order to resolve this I renamed the ur.xacro file in the descriptio/urdf folder to have the same name as the one it was not able to find based on the error, however that did not work either since I receivd then the following error:
o such file or directory: /home/cocp5/catkin_ws/src/universal_robot/ur_description/urdf/common.gazebo.xacro [Errno 2] No such file or directory: '/home/cocp5/catkin_ws/src/universal_robot/ur_description/urdf/common.gazebo.xacro
Could you please help me debug this?
Thank you in advance for all your valuable help and support!
Kind reagards,
Christos Peridis
您好
程序执行没有报错,可以看到已经检测到了红色目标的坐标位置
但是检测到后,机械臂并不执行抓取,而是直接掉头转向筐然后保持不动
请问这个是什么问题导致的尼
hello li huang, how do i Make sure i have installed Python2.7 and some useful libraries/packages, such as Numpy, cv2, etc.(i guess mabey it is the problem,or not)
Originally posted by @zkgoodboy in #13 (comment)
Hi, Guy
I have also encountered your two problems. Could you share your solutions?
when I run "rosrun ur5_notebook initialize.launch", it can work. But I find "initialize.launch" does not belong to "ur5_notebook" package. Maybe, I think, this is because of the dependence issue.
So I try " rosrun ur5_ROS-Gazebo initialize.launch", it fails. But this launch file is in the "ur5_ROS-Gazebo" package.
Could you help me figure it out?
hello,lihuang,when i replace these two files with customized files. Under directory ur_ws/src/ur5_ROS-Gazebo/src/ur_description/, copy common.gazebo.xacro and ur5.urdf.xacro to ur_ws/src/universal_robot/ur_description/urdf/.then i roslunch ur5_notebook initialize.launch,there ia an error makes can not start the gazebo,i am so confused,would you help me,folling is the detail about error:
###(ERROR) Invalid parameter "transmission_hw_interface" None ### None
when instantiating macro: ur5_robot (/home/hourui/catkin_ws/src/universal_robot-kinetic-devel/universal_robot-kinetic-devel/ur_description/urdf/ur5.urdf.xacro)
in file: /home/hourui/catkin_ws/src/universal_robot-kinetic-devel/universal_robot-kinetic-devel/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/hourui/catkin_ws/src/universal_robot-kinetic-devel/universal_robot-kinetic-devel/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=hardware_interface/PositionJointInterface] returned with code [2].
Param xml is
The traceback for the exception was written to the log file
waiting for your help,grateful about you!
Hi, I'm getting this error whenever I try to build the file:
[ 57%] Building CXX object ur5_ROS-Gazebo/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o
/home/gg/ur_ws/src/ur5_ROS-Gazebo/blocks_poses_publisher.cpp:14:39: fatal error: ur5_notebook/blocks_poses.h: No such file or directory
compilation terminated.
ur5_ROS-Gazebo/CMakeFiles/blocks_poses_publisher.dir/build.make:62: recipe for target 'ur5_ROS-Gazebo/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o' failed
make[2]: *** [ur5_ROS-Gazebo/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o] Error 1
CMakeFiles/Makefile2:1747: recipe for target 'ur5_ROS-Gazebo/CMakeFiles/blocks_poses_publisher.dir/all' failed
make[1]: *** [ur5_ROS-Gazebo/CMakeFiles/blocks_poses_publisher.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed
This occurred after I have completed this part and perform catkin_make:
In the same directory, make a copy of common.gazebo.xacro and ur5.urdf.xacro in case of any malfunction. These two default files do not include camera and vacuum gripper modules. So we would replace these two files with customized files. Under directory ur_ws/src/ur5_ROS-Gazebo/src/ur_description/, copy common.gazebo.xacro and ur5.urdf.xacro to ur_ws/src/universal_robot/ur_description/urdf/.
Can someone please help me out?
I need to get the installation done asap.
In line 114 of ur5_mp.py , the condition to determine the target position overlapping with the initial position is
np.sqrt((wpose.position.x-start_pose.position.x)**2+(wpose.position.x-start_pose.position.x)**2+(wpose.position.x-start_pose.position.x)**2)<0.1
It should consider x, y, z coordinates instead of x three times, isn't is?
np.sqrt((wpose.position.**x**-start_pose.position.**x**)**2+(wpose.position.**y**-start_pose.position.**y**)**2+(wpose.position.**z**-start_pose.position.**z**)**2)<0.1
hello,lihuang,how do you just use camera to get the real point to make the robot move ?i know it needs calibration.
ERROR: cannot launch node of type [ur5_notebook/blocks_spawner]: can't locate node [blocks_spawner] in package [ur5_notebook] when I run roslaunch ur5_notebook.
ERROR: cannot launch node of type [ur5_notebook/blocks_poses_publisher]: can't locate node [blocks_poses_publisher] in package [ur5_notebook]
Does anyone know how to solve this kind of mistake, thank you
ai title, i want to run this demo on a server, and there is no gui. it seems like the camera node doesn't work. what should i do to make the camera work and thus the robot can pick the box
darshit@darshit-Inspiron-5558:~/catkin_ws$ roslaunch ur5_notebook initialize.launch
... logging to /home/darshit/.ros/log/15b67b32-7202-11ed-a9a0-297a8c4ae0cd/roslaunch-darshit-Inspiron-5558-18629.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
RLException: while processing /home/darshit/catkin_ws/src/universal_robot/ur_description/launch/ur5_upload.launch:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: '/home/darshit/catkin_ws/src/universal_robot/ur_description/launch/ur5_upload.launch'
The traceback for the exception was written to the log file
The above is the error which occurrs when I run the command. Where can I get this file? and How to resolver it?
Hallo LiHuang, I am facing a problem when running the roslaunch method. All the simulation and gazebo launched well. But I am facing a problem at the ur5_mp.py file: I am really new to ROS. Please help. I really need help because I am really desperate.
Traceback (most recent call last): File "/home/mohan/dd_ws/src/ur5_ROS-Gazebo/ur5_mp.py", line 374, in <module> mp=ur5_mp() File "/home/mohan/dd_ws/src/ur5_ROS-Gazebo/ur5_mp.py", line 63, in __init__ self.arm = moveit_commander.MoveGroupCommander('manipulator') File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 52, in __init__ self._g = _moveit_move_group_interface.MoveGroupInterface(name, robot_description, ns) RuntimeError: Unable to connect to move_group action server 'move_group' within allotted time (5s) [INFO] [1596241103.351390, 0.000000]: Stopping the robot Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/core.py", line 466, in signal_shutdown h() File "/home/mohan/dd_ws/src/ur5_ROS-Gazebo/ur5_mp.py", line 153, in cleanup self.arm.stop() AttributeError: ur5_mp instance has no attribute 'arm'
`[ INFO] [1596241103.819728500, 6.237000000]: Using planning interface 'OMPL'
[ INFO] [1596241103.919725800, 6.320000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1596241104.057005900, 6.331000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1596241104.172064400, 6.397000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1596241104.281793600, 6.419000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1596241104.386338100, 6.480000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1596241104.464261100, 6.490000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1596241104.508344700, 6.490000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1596241104.563671800, 6.535000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1596241104.659348900, 6.535000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1596241104.762128000, 6.548000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1596241104.864209500, 6.575000000]: Using planning request adapter 'Fix Start State Path Constraints'
[ur5_mp-15] process has died [pid 22712, exit code 1, cmd /home/mohan/dd_ws/src/ur5_ROS-Gazebo/ur5_mp.py /follow_joint_trajectory:=/arm_controller/follow_joint_trajectory __name:=ur5_mp __log:=/root/.ros/log/6ea9e25e-d38c-11ea-92c3-00155d73c6ba/ur5_mp-15.log].
log file: /root/.ros/log/6ea9e25e-d38c-11ea-92c3-00155d73c6ba/ur5_mp-15*.log
[ WARN] [1596241122.326145000, 12.571000000]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1596241139.949147500, 18.616000000]: Waiting for /follow_joint_trajectory to come up
[ INFO] [1596241153.339214100, 22.642000000]: y position of new box: 0.0950119
,
[ INFO] [1596241218.368347700, 43.517000000]: red_blocks_1 has been spawned
[ INFO] [1596241218.536115200, 43.585000000]: ApplyBodyWrench: reference_frame is empty/world/map, using inertial frame, transferring from body relative to inertial frame
[ INFO] [1596241218.582610100, 43.591000000]: red_blocks_1 speed initialized
[ INFO] [1596241218.654149700, 43.603000000]:
[ERROR] [1596241237.322624600, 49.329000000]: Action client not connected: /follow_joint_trajectory
[ INFO] [1596241237.844478400, 49.491000000]: Returned 0 controllers in list
[ INFO] [1596241239.845947700, 50.153000000]: Trajectory execution is managing controllers`
is there someone meet the same problem?
I guess it's because universal-robot official add transmission_hw_interface which cause the ur5.urdf.xacro is not consistant with the u5_joint_limited_robot.urdf.xacro.
when i delete the hw_interface, i met another problem "XML parsing error: mismatched tag: line 66, column 4
Hello,
The code seems to work perfectly but now I am planning to use two UR5 instead one for the same task.
I can successfully launch two robots but then it doesn't do anything.
Here is my launch file for launching the two robots
<?xml version="1.0"?>
<launch>
<param name="red_box_path" type="str" value="$(find ur5_notebook)/urdf/red_box.urdf"/>
<param name="/use_sim_time" value="true" />
<arg name="robot_name"/>
<arg name="init_pose"/>
<arg name="limited" default="true"/>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false" />
<arg name="sim" default="true" />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<!-- spawn the conveyor_belt in gazebo -->
<node name="spawn_conveyor_belt" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/conveyor_belt.urdf -urdf -model conveyor_belt" />
<!-- spawn the conveyor_belt in gazebo -->
<node name="bin" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/bin.urdf -urdf -model bin -y 0.8 -x -0.5 -z 0.05" />
<!-- the red blocks spawner node -->
<node name="blocks_spawner" pkg="ur5_notebook" type="blocks_spawner" output="screen" />
<!-- the cylinder poses publisher node -->
<node name="blocks_poses_publisher" pkg="ur5_notebook" type="blocks_poses_publisher" output="screen" />
<!-- spwan ur5 -->
<!-- send robot urdf to param server -->
<group ns="robot1">
<param name="tf_prefix" value="robot1_tf" />
<include file="$(find ur_gazebo)/launch/ur5.launch">
<arg name="init_pose" value="-z 0.2 -y 0.7"/>
<arg name="robot_name" value="robot1"/>
</include>
<include file="$(find ur5_moveit_config)/launch/move_group.launch">
<arg name="limited" default="$(arg limited)"/>
<arg name="debug" default="$(arg debug)" />
</include>
<node name="ur5_vision" pkg="ur5_notebook" type="ur5_vision.py" output="screen" />
<node name="ur5_mp" pkg="ur5_notebook" type="ur5_mp.py" output="screen" />
<node name="ur5_gripper" pkg="ur5_notebook" type="ur5_gripper.py" output="screen"/>
<remap if="$(arg sim)" from="follow_joint_trajectory" to="arm_controller/follow_joint_trajectory"/>
<!-- Remap follow_joint_trajectory -->
<!-- Launch moveit -->
<!-- the cylinder poses publisher node -->
</group>
<group ns="robot2">
<param name="tf_prefix" value="robot2_tf" />
<include file="$(find ur_gazebo)/launch/ur5.launch">
<arg name="init_pose" value="-z 0.2 -y -0.7"/>
<arg name="robot_name" value="robot2"/>
</include>
<include file="$(find ur5_moveit_config)/launch/move_group.launch">
<arg name="limited" default="$(arg limited)"/>
<arg name="debug" default="$(arg debug)" />
</include>
<node name="ur5_vision" pkg="ur5_notebook" type="ur5_vision.py" output="screen" />
<node name="ur5_mp" pkg="ur5_notebook" type="ur5_mp.py" output="screen" />
<node name="ur5_gripper" pkg="ur5_notebook" type="ur5_gripper.py" output="screen"/>
<remap if="$(arg sim)" from="follow_joint_trajectory" to="arm_controller/follow_joint_trajectory"/>
<!-- Remap follow_joint_trajectory -->
<!-- Launch moveit -->
<!-- the cylinder poses publisher node -->
</group>
<!-- for ros control to be used with scara robot -->
<!-- <param name="/scara_robot_left/robot_description" textfile="$(find two_scara_collaboration)/urdf/scara_robot_left.urdf" />-->
<!-- spawn the red_box in gazebo -->
<!-- node name="spawn_red_box" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/red_box.urdf -urdf -model red_box"/ -->
</launch>
when I launch the above file the robots are launched but there is no execution of the 'ur5_mp.py'
I get the following error
Traceback (most recent call last):
File "/home/murtaza/catkin_ws/src/ur5_notebook/ur5_mp.py", line 378, in <module>
mp=ur5_mp()
File "/home/murtaza/catkin_ws/src/ur5_notebook/ur5_mp.py", line 66, in __init__
self.arm = moveit_commander.MoveGroupCommander(group_name)
File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 52, in __init__
self._g = _moveit_move_group_interface.MoveGroupInterface(name, robot_description, ns)
RuntimeError: Unable to connect to move_group action server 'move_group' within allotted time (5s)
[INFO] [1568641657.813389, 0.000000]: Stopping the robot
Traceback (most recent call last):
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/core.py", line 572, in signal_shutdown
h()
File "/home/murtaza/catkin_ws/src/ur5_notebook/ur5_mp.py", line 157, in cleanup
self.arm.stop()
AttributeError: ur5_mp instance has no attribute 'arm'
[robot1/ur5_mp-15] process has died [pid 35212, exit code 1, cmd /home/murtaza/catkin_ws/src/ur5_notebook/ur5_mp.py __name:=ur5_mp __log:=/home/murtaza/.ros/log/c6d316e8-d86b-11e9-a0db-000c29544a54/robot1-ur5_mp-15.log].
log file: /home/murtaza/.ros/log/c6d316e8-d86b-11e9-a0db-000c29544a54/robot1-ur5_mp-15*.log
[robot2/ur5_mp-25] process has died [pid 35239, exit code 1, cmd /home/murtaza/catkin_ws/src/ur5_notebook/ur5_mp.py __name:=ur5_mp __log:=/home/murtaza/.ros/log/c6d316e8-d86b-11e9-a0db-000c29544a54/robot2-ur5_mp-25.log].
log file: /home/murtaza/.ros/log/c6d316e8-d86b-11e9-a0db-000c29544a54/robot2-ur5_mp-25*.log
Here is the snippet of the result after execution
In file included from /home/vr715/ur_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0,
from /home/vr715/ur_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:339:34: note: declared here
MOVEIT_DEPRECATED virtual void setValues(const std::string& robot_description, const std::string& group_name,
^~~~~~~~~
[ 97%] Linking CXX shared library /home/vr715/ur_ws/devel/lib/libur10_moveit_plugin.so
[ 98%] Linking CXX shared library /home/vr715/ur_ws/devel/lib/libur3_moveit_plugin.so
[100%] Linking CXX shared library /home/vr715/ur_ws/devel/lib/libur5_moveit_plugin.so
[100%] Built target ur10_moveit_plugin
[100%] Built target ur3_moveit_plugin
[100%] Built target ur5_moveit_plugin
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed
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