Please excuse me for asking a really newbie question.
My problem is 2 fold.
[1] My python package is a moveit generated package for the UR5. In gazebo simulation I can get the manipulator to move using the get_random_poses() function.
I am also creating a static-transform-listener between the UR5 and a turtlebot simulated in gazebo. Then I'm reading poses , and repositioning the UR5, from a lookup_transform between the *wrist_1_link* of the UR5 and the *base_footprint* of the turtlebot. Again, this works in gazebo but not in the real world.
When I try the real robot, I get the following message:
[ INFO] [1553116912.744851817]: ABORTED: Solution found but controller failed during execution
How can I solve this problem and get the real UR5 responding to pose changes?
[2] If the turtlebot is not going to be used and the UR5 is simply to subscribe to a topic which will return a pose, will the UR5 "know" accurately what point in space the pose represents?
Apologies if this question is not very clear.
I assumed both robots would be connected to each other using ip addresses on the same network. Then they would be "aware" of each other. But what if there is no turtlebot and instead a person giving poses as locations for the UR5 to move to?
I would appreciate you help with these questions.
↧