utecrobotics/ur5

UR5 Robot with a Robotiq gripper

ur5's Issues

Mounting the robot

How did you mount the robot on the table? What changes did you make to the original urdf?

Can't accept new commands. Controller is not running.

I get Can't accept new commands. Controller is not running error when I run rosrun ur5_gazebo send_joints.py in another terminal.

hychiang@hychiang-lab:~/ur5_grip/src/ur5$ roslaunch ur5_gazebo ur5_cubes.launch
... logging to /home/hychiang/.ros/log/a102a5e2-327a-11e9-bbc1-ac220b8958ba/roslaunch-hychiang-lab-12148.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hychiang-lab:40237/

SUMMARY
========

PARAMETERS
 * /gazebo_ros_control/pid_gains/elbow_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/elbow_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/elbow_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/shoulder_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/shoulder_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/shoulder_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/shoulder_lift_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/shoulder_lift_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/shoulder_lift_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/shoulder_pan_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/shoulder_pan_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/shoulder_pan_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/wrist_1_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/wrist_1_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/wrist_1_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/wrist_2_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/wrist_2_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/wrist_2_joint/p: 1.0
 * /gazebo_ros_control/pid_gains/wrist_3_joint/d: 1.0
 * /gazebo_ros_control/pid_gains/wrist_3_joint/i: 0.0
 * /gazebo_ros_control/pid_gains/wrist_3_joint/p: 1.0
 * /gripper_controller/action_monitor_rate: 20
 * /gripper_controller/goal_tolerance: 0.002
 * /gripper_controller/joint: robotiq_85_left_k...
 * /gripper_controller/max_effort: 100
 * /gripper_controller/stall_timeout: 1.0
 * /gripper_controller/stall_velocity_threshold: 0.001
 * /gripper_controller/type: position_controll...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /state_publisher/publish_frequency: 50.0
 * /trajectory_controller/action_monitor_rate: 10
 * /trajectory_controller/constraints/elbow_joint/goal: 0.1
 * /trajectory_controller/constraints/elbow_joint/trajectory: 0.1
 * /trajectory_controller/constraints/goal_time: 0.6
 * /trajectory_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /trajectory_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /trajectory_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /trajectory_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
 * /trajectory_controller/constraints/wrist_1_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /trajectory_controller/constraints/wrist_2_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /trajectory_controller/constraints/wrist_3_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /trajectory_controller/joints: ['shoulder_pan_jo...
 * /trajectory_controller/state_publish_rate: 25
 * /trajectory_controller/stop_trajectory_duration: 0.5
 * /trajectory_controller/type: position_controll...
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    gazebo_robot_controllers (controller_manager/spawner)
    spawn_gazebo_model (gazebo_ros/spawn_model)
    state_publisher (robot_state_publisher/state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [12168]
process[gazebo_gui-2]: started with pid [12173]
process[spawn_gazebo_model-3]: started with pid [12178]
process[gazebo_robot_controllers-4]: started with pid [12179]
process[state_publisher-5]: started with pid [12180]
[ INFO] [1550394466.020048309]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550394466.020687930]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1550394466.103697777]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550394466.104388526]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1550394466.404856, 0.000000]: Loading model XML from ros parameter
[INFO] [1550394466.411048, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1550394467.920364, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1550394468.249349, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
[INFO] [1550394468.249768, 0.000000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1550394468.251373, 0.000000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ INFO] [1550394468.377896611]: Loading gazebo_ros_control plugin
[ INFO] [1550394468.378024450]: Starting gazebo_ros_control plugin in namespace: /
[ INFO] [1550394468.379109520]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server.
[ INFO] [1550394468.716116668]: Loaded gazebo_ros_control.
[ INFO] [1550394468.731512853]: ft_sensor plugin reporting wrench values to the frame [wrist_3_link]
[INFO] [1550394469.252763, 0.000000]: Calling service /gazebo/set_model_configuration
[INFO] [1550394469.255851, 0.000000]: Set model configuration status: SetModelConfiguration: success
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/hychiang/.ros/log/a102a5e2-327a-11e9-bbc1-ac220b8958ba/spawn_gazebo_model-3*.log
[ERROR] [1550394582.275577101]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275643693]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275764450]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275901255]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.275988830]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276058521]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276350526]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276448159]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276623309]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276726898]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276837135]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.276921407]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277052603]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277143055]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277240088]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277370089]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.277408213]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.278852640]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.278889331]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.279180039]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.279255993]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.279810802]: Can't accept new commands. Controller is not running.
[ERROR] [1550394582.280061004]: Can't accept new commands. Controller is not running.

I tried to check if my controller_manager is running, but still it appeared normal.

$ rosservice list | grep controller_manager
/controller_manager/list_controller_types
/controller_manager/list_controllers
/controller_manager/load_controller
/controller_manager/reload_controller_libraries
/controller_manager/switch_controller
/controller_manager/unload_controller

Could anyone helps?

Here are some related files:

• ur5gripper_controllers.yaml
• ur5_controllers.launch
• common.gazebo.xacro
• ur5_joint_limited_robot.urdf
• log file

ur5gripper_controllers.yaml

# Joint state controller (publish joint states)
joint_state_controller:
  publish_rate: 125
  type: joint_state_controller/JointStateController

# Gripper controller
gripper_controller:
  type: position_controllers/GripperActionController
  joint: robotiq_85_left_knuckle_joint
  action_monitor_rate: 20
  goal_tolerance: 0.002
  max_effort: 100
  stall_velocity_threshold: 0.001
  stall_timeout: 1.0

# Trajectory controller
trajectory_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint
  constraints:
    goal_time: 0.6
    stopped_velocity_tolerance: 0.05
    shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
    shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
    elbow_joint: {trajectory: 0.1, goal: 0.1}
    wrist_1_joint: {trajectory: 0.1, goal: 0.1}
    wrist_2_joint: {trajectory: 0.1, goal: 0.1}
    wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate: 25
  action_monitor_rate: 10


# gazebo_ros_control_params.yaml
gazebo_ros_control/pid_gains:
  shoulder_joint: {p: 1.0, i: 0.0, d: 1.0}
  shoulder_lift_joint: {p: 1.0, i: 0.0, d: 1.0}
  shoulder_pan_joint: {p: 1.0, i: 0.0, d: 1.0}
  elbow_joint: {p: 1.0, i: 0.0, d: 1.0}
  wrist_1_joint: {p: 1.0, i: 0.0, d: 1.0}
  wrist_2_joint: {p: 1.0, i: 0.0, d: 1.0}
  wrist_3_joint: {p: 1.0, i: 0.0, d: 1.0}
  robotiq_85_left_knuckle_joint: {p: 1.0, i: 0.0, d: 1.0}

ur5_controllers.launch

<?xml version="1.0"?>
<launch>
  <!-- Launch file parameters -->
  <arg name="debug"     default="false" />

  <arg if=      "$(arg debug)"  name="DEBUG" value="screen"/>
  <arg unless = "$(arg debug)"  name="DEBUG" value="log"/>

  <!-- Controllers config -->
  <rosparam file="$(find ur5_gazebo)/controller/ur5gripper_controllers.yaml"
            command="load" />

  <!-- Load controllers -->
  <node name="gazebo_robot_controllers" pkg="controller_manager" type="spawner"
        output="$(arg DEBUG)"
        args="joint_state_controller trajectory_controller gripper_controller"/>

  <!-- TF -->
  <node pkg="robot_state_publisher" type="state_publisher"
        name="state_publisher">
    <param name="publish_frequency"  type="double" value="50" />
  </node>

</launch>

common.gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>

<!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>     
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
-->
  </gazebo>

</robot>

ur5_joint_limited_robot.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur5_joint_limited_robot.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
    <!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>     
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </plugin>
-->
  </gazebo>
  <!-- measured from model -->
  <!--property name="shoulder_height" value="0.089159" /-->
  <!--property name="shoulder_offset" value="0.13585" /-->
  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
  <!--property name="upper_arm_length" value="0.42500" /-->
  <!--property name="elbow_offset" value="0.1197" /-->
  <!-- CAD measured -->
  <!--property name="forearm_length" value="0.39225" /-->
  <!--property name="wrist_1_length" value="0.093" /-->
  <!-- CAD measured -->
  <!--property name="wrist_2_length" value="0.09465" /-->
  <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
  <!--property name="wrist_3_length" value="0.0823" /-->
  <!-- manually measured -->
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/base.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
    </inertial>
  </link>
  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/shoulder.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.7"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
    </inertial>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.13585 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/upperarm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="8.393"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
      <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
    </inertial>
  </link>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
    <axis xyz="0 1 0"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/forearm.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.275"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
      <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
    </inertial>
  </link>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.39225"/>
    <axis xyz="0 1 0"/>
    <limit effort="28.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/wrist1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
    </inertial>
  </link>
  <joint name="wrist_2_joint" type="revolute">
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/wrist2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
    </inertial>
  </link>
  <joint name="wrist_3_joint" type="revolute">
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
    <axis xyz="0 1 0"/>
    <limit effort="28.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur5_description/meshes/ur5/collision/wrist3.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
    </inertial>
  </link>
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="ee_link"/>
    <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0823 0.0"/>
  </joint>
  <link name="ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
    </collision>
  </link>
  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_pan_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="shoulder_lift_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="elbow_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_1_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_2_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint">
      <hardwareInterface>PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="wrist_3_motor">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <!-- nothing to do here at the moment -->
  <!-- ROS base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- NOTE: this rotation is only needed as long as base_link itself is
                 not corrected wrt the real robot (ie: rotated over 180
                 degrees)
      -->
    <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- Frame coincident with all-zeros TCP on UR controller -->
  <link name="tool0"/>
  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
    <parent link="wrist_3_link"/>
    <child link="tool0"/>
  </joint>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
</robot>

** Log file **

[rospy.client][INFO] 2019-02-17 17:30:57,490: init_node, name[/spawn_gazebo_model], pid[14504]
[xmlrpc][INFO] 2019-02-17 17:30:57,490: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2019-02-17 17:30:57,490: Started XML-RPC server [http://hychiang-lab:35709/]
[rospy.init][INFO] 2019-02-17 17:30:57,490: ROS Slave URI: [http://hychiang-lab:35709/]
[rospy.impl.masterslave][INFO] 2019-02-17 17:30:57,491: _ready: http://hychiang-lab:35709/
[rospy.registration][INFO] 2019-02-17 17:30:57,491: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2019-02-17 17:30:57,491: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2019-02-17 17:30:57,591: registered with master
[rospy.rosout][INFO] 2019-02-17 17:30:57,591: initializing /rosout core topic
[rospy.rosout][INFO] 2019-02-17 17:30:57,593: connected to core topic /rosout
[rospy.simtime][INFO] 2019-02-17 17:30:57,595: initializing /clock core topic
[rospy.simtime][INFO] 2019-02-17 17:30:57,597: connected to core topic /clock
[rosout][INFO] 2019-02-17 17:30:57,600: Loading model XML from ros parameter
[rosout][INFO] 2019-02-17 17:30:57,605: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2019-02-17 17:30:57,835: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2019-02-17 17:30:59,071: topic[/clock] adding connection to [http://hychiang-lab:35641/], count 0
[rosout][INFO] 2019-02-17 17:30:59,114: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2019-02-17 17:30:59,325: Spawn status: SpawnModel: Successfully spawned entity
[rosout][INFO] 2019-02-17 17:30:59,326: Waiting for service /gazebo/set_model_configuration
[rosout][INFO] 2019-02-17 17:30:59,328: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[rosout][INFO] 2019-02-17 17:31:00,330: Calling service /gazebo/set_model_configuration
[rosout][INFO] 2019-02-17 17:31:00,333: Set model configuration status: SetModelConfiguration: success
[rospy.core][INFO] 2019-02-17 17:31:00,333: signal_shutdown [atexit]
[rospy.internal][INFO] 2019-02-17 17:31:00,335: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2019-02-17 17:31:00,335: topic[/clock] removing connection to http://hychiang-lab:35641/
[rospy.internal][WARNING] 2019-02-17 17:31:00,336: Unknown error initiating TCP/IP socket to hychiang-lab:45963 (http://hychiang-lab:35641/): Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 557, in connect
    self.read_header()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 650, in read_header
    self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
AttributeError: 'NoneType' object has no attribute 'buff_size'

[rospy.topics][ERROR] 2019-02-17 17:31:00,336: Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/topics.py", line 326, in close
    c.close()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 838, in close
    self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'

[rospy.impl.masterslave][INFO] 2019-02-17 17:31:00,336: atexit

Failed to load controllers while launch gazebo

I have no problem with roslaunch ur5_description display_with_gripper.launch

However, while I was trying to launch gazebo by the command roslaunch ur5_gazebo ur5_cubes.launch, it shows that fail to load following three controllers.

• Failed to load joint_state_controller
• Failed to load gripper_controller
• Failed to start controllers: trajectory_controller
  Though gazebo was launched but with nothing in the simulated environment.
  

Here are the error messages:

$ roslaunch ur5_gazebo ur5_cubes.launch

... logging to /home/hychiang/.ros/log/5b1b5c0e-325c-11e9-b81a-ac220b8958ba/roslaunch-hychiang-lab-27077.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hychiang-lab:38623/

SUMMARY
========

PARAMETERS
 * /gripper_controller/action_monitor_rate: 20
 * /gripper_controller/goal_tolerance: 0.002
 * /gripper_controller/joint: robotiq_85_left_k...
 * /gripper_controller/max_effort: 100
 * /gripper_controller/stall_timeout: 1.0
 * /gripper_controller/stall_velocity_threshold: 0.001
 * /gripper_controller/type: position_controll...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /state_publisher/publish_frequency: 50.0
 * /trajectory_controller/action_monitor_rate: 10
 * /trajectory_controller/constraints/elbow_joint/goal: 0.1
 * /trajectory_controller/constraints/elbow_joint/trajectory: 0.1
 * /trajectory_controller/constraints/goal_time: 0.6
 * /trajectory_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /trajectory_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /trajectory_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /trajectory_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
 * /trajectory_controller/constraints/wrist_1_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /trajectory_controller/constraints/wrist_2_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /trajectory_controller/constraints/wrist_3_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /trajectory_controller/joints: ['shoulder_pan_jo...
 * /trajectory_controller/state_publish_rate: 25
 * /trajectory_controller/stop_trajectory_duration: 0.5
 * /trajectory_controller/type: position_controll...
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_controllers (controller_manager/spawner)
    spawn_gazebo_model (gazebo_ros/spawn_model)
    state_publisher (robot_state_publisher/state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [27097]
process[gazebo_gui-2]: started with pid [27102]
process[spawn_gazebo_model-3]: started with pid [27107]
process[robot_controllers-4]: started with pid [27108]
process[state_publisher-5]: started with pid [27109]
[ INFO] [1550377160.327240339]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1550377160.377302091]: Physics dynamic reconfigure ready.
[gazebo-1] process has died [pid 27097, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -u -e ode /home/hychiang/ur5_grip/src/ur5/ur5_gazebo/worlds/ur5_cubes.world __name:=gazebo __log:=/home/hychiang/.ros/log/5b1b5c0e-325c-11e9-b81a-ac220b8958ba/gazebo-1.log].
log file: /home/hychiang/.ros/log/5b1b5c0e-325c-11e9-b81a-ac220b8958ba/gazebo-1*.log
SpawnModel script started
[INFO] [1550377160.697907, 0.000000]: Loading model XML from ros parameter
[INFO] [1550377160.701012, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1550377160.702202, 0.000000]: Calling service /gazebo/spawn_urdf_model
Service call failed: service [/gazebo/spawn_urdf_model] responded with an error: 
[INFO] [1550377160.723182, 6359.997000]: Waiting for service /gazebo/set_model_configuration
[INFO] [1550377160.724629, 6359.998000]: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.
[ERROR] [1550377161.321914, 6360.594000]: Failed to load joint_state_controller
[INFO] [1550377161.725531, 6360.998000]: Calling service /gazebo/set_model_configuration
[INFO] [1550377161.727674, 6361.001000]: Set model configuration status: SetModelConfiguration: success
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/hychiang/.ros/log/5b1b5c0e-325c-11e9-b81a-ac220b8958ba/spawn_gazebo_model-3*.log
[ERROR] [1550377162.363078, 6361.636000]: Failed to load gripper_controller
[ERROR] [1550377162.365434, 6361.638000]: Failed to start controllers: trajectory_controller
[gazebo_gui-2] process has finished cleanly

I also parsed some related issues online.
qboticslabs/mastering_ros#10
https://answers.ros.org/question/254084/gazebo-could-not-load-controller-jointtrajectorycontroller-does-not-exist-mastering-ros-chapter-10/

I check all the dependencies and they were all installed.

$ sudo apt-get install ros-kinetic-joint*controller*
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Note, selecting 'ros-kinetic-joint-state-controller' for glob 'ros-kinetic-joint*controller*'
Note, selecting 'ros-kinetic-joint-trajectory-controller' for glob 'ros-kinetic-joint*controller*'
Note, selecting 'ros-kinetic-joint-qualification-controllers' for glob 'ros-kinetic-joint*controller*'
ros-kinetic-joint-qualification-controllers is already the newest version (1.0.12-0xenial-20190131-132250-0800).
ros-kinetic-joint-state-controller is already the newest version (0.13.4-0xenial-20181107-012434-0800).
ros-kinetic-joint-trajectory-controller is already the newest version (0.13.4-0xenial-20190131-131202-0800).
0 upgraded, 0 newly installed, 0 to remove and 32 not upgraded.

$ sudo apt-get install ros-kinetic-joint-state-controller
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ros-kinetic-joint-state-controller is already the newest version (0.13.4-0xenial-20181107-012434-0800).
0 upgraded, 0 newly installed, 0 to remove and 32 not upgraded.

$ rospack find joint_state_controller
/opt/ros/kinetic/share/joint_state_controller
$ ls -al /opt/ros/kinetic/lib/libjoint_state_controller.so
-rw-r--r-- 1 root root 134672 十一  7 17:30 /opt/ros/kinetic/lib/libjoint_state_controller.so

Does anyone have clues about this?

Thanks

What is the max effort of the gripper?

Hello, I have a doubt what is the max effort of the gripper?
you have mentioned in this line goal.command.max_effort = -1.0 # Do not limit the effort but if I want to increase the effort of the gripper should increase the negative of the number i.e. -1.2, -1.3..etc.. or should i go towards positive values i.e. 1,1.2,1.3,..etc..?

how to control gazebo sim using moveit

How can I control the arm in the ur5_cubes sim with moveit?

Unable to grip item

Hi, I resized the cube into a rectangle block and the gripper doesn't carry the item up after gripping it. ( It is treating my object as an invisible item )
May I know was it able to pick up your cube in the simulation?

Does it work with indigo?? I got the following error !!

roslaunch ur5_gazebo ur5_cubes.launch 
... logging to /home/abdulrahman/.ros/log/9cadfaee-b6c1-11e8-8d8a-e09d31097f54/roslaunch-abdu-19652.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://abdu:37800/

SUMMARY
========

PARAMETERS
 * /gripper_controller/action_monitor_rate: 20
 * /gripper_controller/goal_tolerance: 0.002
 * /gripper_controller/joint: robotiq_85_left_k...
 * /gripper_controller/max_effort: 100
 * /gripper_controller/stall_timeout: 1.0
 * /gripper_controller/stall_velocity_threshold: 0.001
 * /gripper_controller/type: position_controll...
 * /joint_state_controller/publish_rate: 125
 * /joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /state_publisher/publish_frequency: 50.0
 * /trajectory_controller/action_monitor_rate: 10
 * /trajectory_controller/constraints/elbow_joint/goal: 0.1
 * /trajectory_controller/constraints/elbow_joint/trajectory: 0.1
 * /trajectory_controller/constraints/goal_time: 0.6
 * /trajectory_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /trajectory_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /trajectory_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /trajectory_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /trajectory_controller/constraints/stopped_velocity_tolerance: 0.05
 * /trajectory_controller/constraints/wrist_1_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /trajectory_controller/constraints/wrist_2_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /trajectory_controller/constraints/wrist_3_joint/goal: 0.1
 * /trajectory_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /trajectory_controller/joints: ['shoulder_pan_jo...
 * /trajectory_controller/state_publish_rate: 25
 * /trajectory_controller/stop_trajectory_duration: 0.5
 * /trajectory_controller/type: position_controll...
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_controllers (controller_manager/spawner)
    spawn_gazebo_model (gazebo_ros/spawn_model)
    state_publisher (robot_state_publisher/state_publisher)

auto-starting new master
process[master]: started with pid [19681]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9cadfaee-b6c1-11e8-8d8a-e09d31097f54
process[rosout-1]: started with pid [19701]
started core service [/rosout]
process[gazebo-2]: started with pid [19724]
process[gazebo_gui-3]: started with pid [19729]
process[spawn_gazebo_model-4]: started with pid [19732]
process[robot_controllers-5]: started with pid [19734]
process[state_publisher-6]: started with pid [19735]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.spawn_model script started
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[ INFO] [1536780333.334794442]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1536780333.336123595]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.150.15.35
[INFO] [WallTime: 1536780333.351720] [0.000000] Loading model xml from ros parameter
[INFO] [WallTime: 1536780333.356025] [0.000000] Waiting for service /gazebo/spawn_urdf_model
Warning [parser.cc:340] Converting a deprecated source[/home/abdulrahman/catkin_ws/src/ur5/ur5_gazebo/worlds/ur5_cubes.world].
Warning [Converter.cc:59]   Version[1.6] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Error [Converter.cc:127] Unable to convert from SDF version 1.6 to 1.4
Error [parser.cc:697] XML Element[gravity], child of element[world] not defined in SDF. Ignoring.[world]
Error [parser.cc:688] Error reading element <world>
Error [parser.cc:348] Unable to read element <sdf>
Error:   Could not find the 'robot' element in the xml file
         at line 81 in /build/buildd/urdfdom-0.2.10+dfsg/urdf_parser/src/model.cpp
Error [parser_urdf.cc:2608] Unable to call parseURDF on robot model
Error [parser.cc:273] parse as old deprecated model file failed.
Error [Server.cc:300] Unable to read sdf file[/home/abdulrahman/catkin_ws/src/ur5/ur5_gazebo/worlds/ur5_cubes.world]
gzserver: /usr/include/boost/thread/pthread/recursive_mutex.hpp:101: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.
Aborted (core dumped)
[gazebo-2] process has died [pid 19724, exit code 134, cmd /opt/ros/indigo/lib/gazebo_ros/gzserver -u -e ode /home/abdulrahman/catkin_ws/src/ur5/ur5_gazebo/worlds/ur5_cubes.world __name:=gazebo __log:=/home/abdulrahman/.ros/log/9cadfaee-b6c1-11e8-8d8a-e09d31097f54/gazebo-2.log].
log file: /home/abdulrahman/.ros/log/9cadfaee-b6c1-11e8-8d8a-e09d31097f54/gazebo-2*.log
..................

There is an error when I run gazebo based on indigo

Does this code have to be run under Kinetic on Ubuntu 16.04?

Looking forward to your reply. Thank you

Why does my ubuntu16.04kinetic run your code through a lot of errors and the rviz arm fails to display and the gazebo arm is down and the python file after yongxing is kinetic nonfruitful

ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher]. Make sure file exists in package path and permission is set to executable (chmod +x)

When I try to Visualization of UR5 in RViz through roslaunch ur5_description display_with_gripper.launch.

Have an ERROR: cannot launch node of type [robot_state_publisher/state_publisher]: Cannot locate node of type [state_publisher] in package [robot_state_publisher]. Make sure file exists in package path and permission is set to executable (chmod +x)

I have tried to change all the doc named display.launch state_publisher to robot_state_publisher. However, the error still appears.
Please help me to solve this problem.

What should I do to solve it.

Best.

Can't accept new commands. Controller is not running

[ERROR] [1570637972.504209169]: Can't accept new commands. Controller is not running.

The send_joints.py not working

I don't know why this file not working ,anyone can help me?
the send_gripper.py work but send_joints.py not, rostopic dont have arm_controller ,so i thought problem may in the controller.launch. i will work it out ,but if someone can help me , thanks!