Support for UR firmware 3.2

[ros-industrial]

Support for UR firmware 3.2

[VictorLamoine]

Can anybody give an update status on running this package with the Polyscope 3.2.* versions?

I successfully connect to the robot and the rosrun ur_modern_driver test_move.py works perfectly but when planning trajectories using MoveIt the robot stops before finishing the trajectory.

Beginning of the discussion: (+ log)
https://groups.google.com/forum/#!topic/swri-ros-pkg-dev/LwcFK44vmKI

My demo package is here: universal_robot_motion

[nick-pestell]

I am also running with 3.2* version and it sounds as though I was experiencing the same problem as you @VictorLamoine. In which case it is related to #43.

I am guessing you are tying to use moveit_commander or the equivalent c++ API?

Try lowering the maximum joint velocities in joint_limits.yaml. I found that setting them all to around 0.15 solved the problem, though I'm really not sure why...

I'm inclined to believe that the reason test_move.py works is because it only publishes a single goal state on the follow_joint_trajectory/goal topic, whereas when using the functions from moveit_commander a new goal state is published at a frequency of around 4hz. Perhaps the premature ending of the trajectory at higher joint speeds could be related to #36. I.e. somewhere throughout the trajectory the new goal start falls out of line with the current pose?

[ThomasTimm]

It sounds very strange that moveit_commander is publishing a new goal state at ~4 hz. What is the purpose of continuously publishing new goals? (unless the goal keeps changing, but then it wouldn't make sense to talk about a trajectory ending prematurely)

[gavanderhoorn]

Closing as I believe 3.2 is already supported by the kinetic-devel refactor.

Any additional issues should be reported and tracked in a new issue.