I have a robot configuration with an UR10 robot and a Robotiq 2F-140 gripper in ROS and Gazebo and when I try to control the gripper to open or close it, it does not work. I am a new ROS user and maybe I am making a mistake when I declare the properties of the robot when using MoveIt Setup Assistant. Here I leave the terminal report:
PARAMETERS
* /arm_controller/action_monitor_rate: 10
* /arm_controller/constraints/elbow_joint/goal: 0.1
* /arm_controller/constraints/elbow_joint/trajectory: 0.1
* /arm_controller/constraints/goal_time: 0.6
* /arm_controller/constraints/shoulder_lift_joint/goal: 0.1
* /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
* /arm_controller/constraints/shoulder_pan_joint/goal: 0.1
* /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
* /arm_controller/constraints/stopped_velocity_tolerance: 0.05
* /arm_controller/constraints/wrist_1_joint/goal: 0.1
* /arm_controller/constraints/wrist_1_joint/trajectory: 0.1
* /arm_controller/constraints/wrist_2_joint/goal: 0.1
* /arm_controller/constraints/wrist_2_joint/trajectory: 0.1
* /arm_controller/constraints/wrist_3_joint/goal: 0.1
* /arm_controller/constraints/wrist_3_joint/trajectory: 0.1
* /arm_controller/joints: ['shoulder_pan_jo...
* /arm_controller/state_publish_rate: 25
* /arm_controller/stop_trajectory_duration: 0.5
* /arm_controller/type: position_controll...
* /joint_group_position_controller/joints: ['shoulder_pan_jo...
* /joint_group_position_controller/type: position_controll...
* /joint_state_controller/publish_rate: 50
* /joint_state_controller/type: joint_state_contr...
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities:
* /move_group/controller_list: [{'default': True...
* /move_group/disable_capabilities:
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BFMT/balanced: 0
* /move_group/planner_configs/BFMT/cache_cc: 1
* /move_group/planner_configs/BFMT/extended_fmt: 1
* /move_group/planner_configs/BFMT/heuristics: 1
* /move_group/planner_configs/BFMT/nearest_k: 1
* /move_group/planner_configs/BFMT/num_samples: 1000
* /move_group/planner_configs/BFMT/optimality: 1
* /move_group/planner_configs/BFMT/radius_multiplier: 1.0
* /move_group/planner_configs/BFMT/type: geometric::BFMT
* /move_group/planner_configs/BKPIECE/border_fraction: 0.9
* /move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
* /move_group/planner_configs/BKPIECE/range: 0.0
* /move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
* /move_group/planner_configs/BiEST/range: 0.0
* /move_group/planner_configs/BiEST/type: geometric::BiEST
* /move_group/planner_configs/BiTRRT/cost_threshold: 1e300
* /move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
* /move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
* /move_group/planner_configs/BiTRRT/init_temperature: 100
* /move_group/planner_configs/BiTRRT/range: 0.0
* /move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
* /move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
* /move_group/planner_configs/EST/goal_bias: 0.05
* /move_group/planner_configs/EST/range: 0.0
* /move_group/planner_configs/EST/type: geometric::EST
* /move_group/planner_configs/FMT/cache_cc: 1
* /move_group/planner_configs/FMT/extended_fmt: 1
* /move_group/planner_configs/FMT/heuristics: 0
* /move_group/planner_configs/FMT/nearest_k: 1
* /move_group/planner_configs/FMT/num_samples: 1000
* /move_group/planner_configs/FMT/radius_multiplier: 1.1
* /move_group/planner_configs/FMT/type: geometric::FMT
* /move_group/planner_configs/KPIECE/border_fraction: 0.9
* /move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
* /move_group/planner_configs/KPIECE/goal_bias: 0.05
* /move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
* /move_group/planner_configs/KPIECE/range: 0.0
* /move_group/planner_configs/KPIECE/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECE/border_fraction: 0.9
* /move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
* /move_group/planner_configs/LBKPIECE/range: 0.0
* /move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
* /move_group/planner_configs/LBTRRT/epsilon: 0.4
* /move_group/planner_configs/LBTRRT/goal_bias: 0.05
* /move_group/planner_configs/LBTRRT/range: 0.0
* /move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
* /move_group/planner_configs/LazyPRM/range: 0.0
* /move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
* /move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
* /move_group/planner_configs/PDST/type: geometric::PDST
* /move_group/planner_configs/PRM/max_nearest_neighbors: 10
* /move_group/planner_configs/PRM/type: geometric::PRM
* /move_group/planner_configs/PRMstar/type: geometric::PRMstar
* /move_group/planner_configs/ProjEST/goal_bias: 0.05
* /move_group/planner_configs/ProjEST/range: 0.0
* /move_group/planner_configs/ProjEST/type: geometric::ProjEST
* /move_group/planner_configs/RRT/goal_bias: 0.05
* /move_group/planner_configs/RRT/range: 0.0
* /move_group/planner_configs/RRT/type: geometric::RRT
* /move_group/planner_configs/RRTConnect/range: 0.0
* /move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
* /move_group/planner_configs/RRTstar/delay_collision_checking: 1
* /move_group/planner_configs/RRTstar/goal_bias: 0.05
* /move_group/planner_configs/RRTstar/range: 0.0
* /move_group/planner_configs/RRTstar/type: geometric::RRTstar
* /move_group/planner_configs/SBL/range: 0.0
* /move_group/planner_configs/SBL/type: geometric::SBL
* /move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
* /move_group/planner_configs/SPARS/max_failures: 1000
* /move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
* /move_group/planner_configs/SPARS/stretch_factor: 3.0
* /move_group/planner_configs/SPARS/type: geometric::SPARS
* /move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
* /move_group/planner_configs/SPARStwo/max_failures: 5000
* /move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
* /move_group/planner_configs/SPARStwo/stretch_factor: 3.0
* /move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
* /move_group/planner_configs/STRIDE/degree: 16
* /move_group/planner_configs/STRIDE/estimated_dimension: 0.0
* /move_group/planner_configs/STRIDE/goal_bias: 0.05
* /move_group/planner_configs/STRIDE/max_degree: 18
* /move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
* /move_group/planner_configs/STRIDE/min_degree: 12
* /move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
* /move_group/planner_configs/STRIDE/range: 0.0
* /move_group/planner_configs/STRIDE/type: geometric::STRIDE
* /move_group/planner_configs/STRIDE/use_projected_distance: 0
* /move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
* /move_group/planner_configs/TRRT/frountier_threshold: 0.0
* /move_group/planner_configs/TRRT/goal_bias: 0.05
* /move_group/planner_configs/TRRT/init_temperature: 10e-6
* /move_group/planner_configs/TRRT/k_constant: 0.0
* /move_group/planner_configs/TRRT/max_states_failed: 10
* /move_group/planner_configs/TRRT/min_temperature: 10e-10
* /move_group/planner_configs/TRRT/range: 0.0
* /move_group/planner_configs/TRRT/temp_change_factor: 2.0
* /move_group/planner_configs/TRRT/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/sensors: [{'point_subsampl...
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /move_group/trajectory_execution/execution_duration_monitoring: False
* /move_group/ur10e_arm/default_planner_config: RRTConnect
* /move_group/ur10e_arm/longest_valid_segment_fraction: 0.005
* /move_group/ur10e_arm/planner_configs: ['SBL', 'EST', 'L...
* /move_group/ur10e_arm/projection_evaluator: joints(shoulder_p...
* /move_group/ur10e_gripper/default_planner_config: RRTConnect
* /move_group/ur10e_gripper/planner_configs: ['SBL', 'EST', 'L...
* /move_group/use_controller_manager: False
* /robot_description: tag in joint 'finger_joint'.
[ERROR] [1561032479.096457640, 0.083000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/finger_joint
[ INFO] [1561032479.112312095, 0.083000000]: Loaded gazebo_ros_control.
[ WARN] [1561032479.112940713, 0.084000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1561032479.113049065, 0.084000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1561032479.113099199, 0.084000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1561032479.113144206, 0.084000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[ INFO] [1561032479.187684932, 0.108000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1561032479.311193956, 0.170000000]: Physics dynamic reconfigure ready.
Loaded arm_controller
Loaded joint_state_controller
Started ['arm_controller'] successfully
Started ['joint_state_controller'] successfully
[joint_state_controller_spawner-7] process has finished cleanly
log file: /home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/joint_state_controller_spawner-7*.log
[arm_controller_spawner-8] process has finished cleanly
log file: /home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/arm_controller_spawner-8*.log
[ INFO] [1561032479.587987487, 0.365000000]: Added FollowJointTrajectory controller for arm_controller
Segmentation fault (core dumped)
[gazebo_gui-3] process has died [pid 115421, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/gazebo_gui-3.log].
log file: /home/diego/.ros/log/083256ba-9354-11e9-9786-000c299380fc/gazebo_gui-3*.log
[ WARN] [1561032485.851045572, 5.397000000]: Waiting for gripper_controller/gripper_action to come up
[ WARN] [1561032492.718325250, 11.397000000]: Waiting for gripper_controller/gripper_action to come up
[ERROR] [1561032499.837589740, 17.397000000]: Action client not connected: gripper_controller/gripper_action
[ INFO] [1561032499.843780305, 17.401000000]: Returned 1 controllers in list
[ INFO] [1561032499.885161792, 17.421000000]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1561032500.157115019, 17.613000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1561032500.157269490, 17.613000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1561032500.157324467, 17.613000000]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1561032510.229610320, 25.758000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
[ WARN] [1561032510.230002294, 25.758000000]: Joint left_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.230079960, 25.758000000]: Joint right_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.230100518, 25.758000000]: Joint right_outer_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ INFO] [1561032510.230413128, 25.759000000]: Planning attempt 1 of at most 1
[ INFO] [1561032510.230552682, 25.759000000]: Starting state is just outside bounds (joint 'left_inner_knuckle_joint'). Assuming within bounds.
[ INFO] [1561032510.230588009, 25.759000000]: Starting state is just outside bounds (joint 'right_inner_knuckle_joint'). Assuming within bounds.
[ INFO] [1561032510.230601645, 25.759000000]: Starting state is just outside bounds (joint 'right_outer_knuckle_joint'). Assuming within bounds.
[ WARN] [1561032510.232152786, 25.760000000]: Joint left_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.232207289, 25.760000000]: Joint right_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.232296257, 25.760000000]: Joint right_outer_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.232438415, 25.760000000]: Joint left_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.232472637, 25.760000000]: Joint right_inner_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ WARN] [1561032510.232486297, 25.760000000]: Joint right_outer_knuckle_joint is constrained to be below the minimum bounds. Assuming minimum bounds instead.
[ INFO] [1561032510.232883208, 25.760000000]: Planner configuration 'ur10e_gripper[RRTConnect]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO] [1561032510.234086879, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1561032510.234259498, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1561032510.234433875, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure
[ INFO] [1561032510.234561504, 25.761000000]: ur10e_gripper[RRTConnect]: Starting planning with 1 states already in datastructure
[ WARN] [1561032510.243289923, 25.770000000]: More than 80% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly?
[ INFO] [1561032510.243955822, 25.770000000]: Constraint satisfied:: Joint name: 'finger_joint', actual value: 0.518286, desired value: 0.518359, tolerance_above: 0.000100, tolerance_below: 0.000100
[ INFO] [1561032510.244069136, 25.770000000]: Constraint satisfied:: Joint name: 'left_inner_finger_joint', actual value: 0.518286, desired value: 0.518359, tolerance_above: 0.000100, tolerance_below: 0.000100
[ INFO] [1561032510.244174373, 25.770000000]: Constraint violated:: Joint name: 'left_inner_knuckle_joint', actual value: -0.518286, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 0.000100
[ INFO] [1561032510.244226625, 25.770000000]: Constraint violated:: Joint name: 'right_inner_knuckle_joint', actual value: -0.518286, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 0.000100
[ INFO] [1561032510.244268859, 25.770000000]: Constraint violated:: Joint name: 'right_outer_knuckle_joint', actual value: -0.518286, desired value: 0.000000, tolerance_above: 0.000000, tolerance_below: 0.000100
[ INFO] [1561032510.244310213, 25.770000000]: Constraint satisfied:: Joint name: 'right_inner_finger_joint', actual value: 0.518286, desired value: 0.518359, tolerance_above: 0.000100, tolerance_below: 0.000100
[ERROR] [1561032510.246288109, 25.770000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree
[ INFO] [1561032510.246455329, 25.770000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal)
[ERROR] [1561032510.255698286, 25.776000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree
[ INFO] [1561032510.255818869, 25.776000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal)
[ERROR] [1561032510.257170039, 25.777000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree
[ INFO] [1561032510.257420105, 25.777000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal)
[ERROR] [1561032510.257765953, 25.777000000]: ur10e_gripper[RRTConnect]: Unable to sample any valid states for goal tree
[ INFO] [1561032510.257873591, 25.777000000]: ur10e_gripper[RRTConnect]: Created 1 states (1 start + 0 goal)
[ WARN] [1561032510.258319088, 25.777000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.024953 seconds
[ERROR] [1561032510.258777717, 25.778000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region
[ERROR] [1561032510.262231037, 25.779000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region
[ERROR] [1561032510.263260474, 25.779000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region
[ERROR] [1561032510.265613493, 25.779000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region
[ WARN] [1561032510.266783149, 25.779000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.007731 seconds
[ERROR] [1561032510.268548449, 25.782000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region
[ERROR] [1561032510.268695780, 25.782000000]: ur10e_gripper[RRTConnect]: Insufficient states in sampleable goal region
[ WARN] [1561032510.268841497, 25.782000000]: ParallelPlan::solve(): Unable to find solution by any of the threads in 0.001890 seconds
[ INFO] [1561032510.269628636, 25.783000000]: Unable to solve the planning problem
Thanks in advance for your help.
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