ur_modern_driver: roslaunch is not working

Hi all,

please help me with this problem, I have been trying many things but no success:

I have ubuntu 16.04 and ROS kinetic (downloaded through steps). I created the catkin workspace (link).

Then in the catkin_ws/src I did:

git clone https://github.com/ros-industrial/ur_modern_driver.git

but then when I made catkin_make: it gave this final error: “Invoking “make -j2 -l2” failed” when I read the errors before it said:

"error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’"

I tried to complete running the ur by: roscore (it works correct) and

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:="

it gives this error:

"ERROR: cannot launch node of type [ur_modern_driver/ur_driver]: can't locate node [ur_driver] in package [ur_modern_driver]"

What should I do? Any help is appreciated.

Thanks in advance

About this issue

Original URL
State: closed
Created 6 years ago
Comments: 21 (10 by maintainers)

Most upvoted comments

The detailed steps to work with ROS and UR (using ROS kinetic and ubuntu 16.04, or ROS indigo and ubuntu 14.04): (it may be obvious but it was a problem for me)

1- download ubuntu 16.04 (or ubuntu 14.04) http://releases.ubuntu.com/16.04.5/ (ubuntu-16.04.5-desktop-amd64.iso )

2- install ROS kinetic (or ROS indigo) http://wiki.ros.org/kinetic/Installation/Ubuntu (all the steps from 1.1 to 1.7, using Desktop-Full Install version)

3- source: $ source /opt/ros/kinetic/setup.bash

4- create catkin_ws (src), as:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

$ source devel/setup.bash

$ echo $ROS_PACKAGE_PATH should gives: /home/youruser/catkin_ws/src:/opt/ros/kinetic/share

5- write those:

source /opt/ros/kinetic/setup.bash
mkdir -p $HOME/catkin_ws/src
cd $HOME/catkin_ws
git -C src/ clone -b kinetic-devel https://github.com/ros-industrial/ur_modern_driver.git
rosdep update
rosdep install --from-paths src/ --ignore-src
catkin_make
source $HOME/devel/setup.bash

6- then in new terminal: roscore

7- in another new terminal (pc ip: 10.1.1.5, robot ip: 10.1.1.4): source catkin_ws/devel/setup.bash roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=10.1.1.4

8- in another new terminal: source devel/setup.bash rosrun ur_modern_driver test_move.py … note: in every new terminal you should ‘source devel/setup.bash’ or you can add that to a file: sudo nano ~/.bashrc go to the end of it, you will find this line: source /opt/ros/indigo/setup.bash after it you should add this line: source ~/catkin_ws/devel/setup.bash

press ctrl+o to save and press enter then ctrl+x to exit

close the terminal then open it again …

Thanks for @gavanderhoorn and @miguelprada for their help.

SaraUmut on Oct 5, 2018

Also, if you follow the steps in your last comment, @BigHopes, the catkin_make in step 6 must’ve failed. You should switch to kinetic-devel branch in ur_modern_driver for the driver to build succesfully against ROS kinetic.

TL;DR;

5.5 Switch to kinetic-devel branch:

cd ~/catkin_ws/src/ur_modern_driver
git checkout -t origin/kinetic-devel

miguelprada on Oct 5, 2018