Hi, I'm trying to connect to a UR10e robot and I am using the modern drivers of plusone-robotics. The software of the teach pendant is Polyscope 5.1.2 and the repositories (ROS Kinetic and Ubuntu 16.04) for the robots I'm using are the following ones:
> https://github.com/plusone-robotics/ur_modern_driver/tree/add-e-series-support
> https://github.com/plusone-robotics/universal_robot/tree/ur_e_fix
The thing is that I have made the connection between ROS controllers and the hardware interface to control robot movements, but by the time I try to move the UR10e real harware the velocity controllers failed with the following report on one the terminals:
[ INFO] [1561965750.043374438]: Received new trajectory execution service request...
[ WARN] [1561965751.261333550]: Controller failed with error code PATH_TOLERANCE_VIOLATED
[ WARN] [1561965751.261747794]: Controller handle reports status ABORTED
[ INFO] [1561965751.261863283]: Completed trajectory execution with status ABORTED ...
[ INFO] [1561965751.262428067]: Execution completed: ABORTED
and on the other one:
[ERROR] [1561964551.757924366]: Can't accept new action goals. Controller is not running.
So the robot and ROS are connected but the control failed. I use rqt_graph tool to visualize what is going wrong. The `trajectory_execution/action_topic` is not connected to RViz (nor MoveIt) so I think that's why it fails. Does anyone have any idea of how to fix this? I'm using the following launch commands to start it in ROS:
roslaunch ur_modern_driver ur10e_ros_control.launch robot_ip:=10.42.0.100
roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true
roslaunch ur10_e_moveit_config moveit_rviz.launch
Thanks in advance for your help.
Google Drive RQT_GRAPH picture:
https://drive.google.com/file/d/1-G4DPaGZmkMCx_VvfmXonpP-HoVeCmZe/view?usp=sharing
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