Universal_Robots_ROS_Driver: Can't accept new action goals

Versions

  • ROS Driver version: Kinetic+ubuntu16.04
  • URCaps Software version(s): 5.2 for UR5e

Summary

I am trying to control the robot arm with moveit planning. Before I start, I have changed the controller.yaml (added the name of “scaled_pos_traj_controller”.) under the directory: /home/ur_ros_driver/src/universal_robot/ur5_e_moveit_config/config/controllers.yaml to: controller_list:

  • name: scaled_pos_traj_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory joints:
    • shoulder_pan_joint
    • shoulder_lift_joint
    • elbow_joint
    • wrist_1_joint
    • wrist_2_joint
    • wrist_3_joint

Then, Here are the commands I run: terminal1: roslaunch ur_robot_driver ur5e_bringup.launch use_tool_communication:=true tool_voltage:=24 tool_parity:=0 tool_baud_rate:=115200 tool_stop_bits:=1 tool_rx_idle_chars:=1.5 tool_tx_idle_chars:=3.5 robot_ip:=localhost tool_device_name:=/tmp/ttyUR

output in terminal 1: SUMMARY

… [ INFO] [1571057474.798657612]: waitForService: Service [/controller_manager/switch_controller] is now available. [ INFO] [1571057474.798678524]: Service available. [ INFO] [1571057474.798690795]: Waiting for controller list service to come up on /controller_manager/list_controllers [ INFO] [1571057474.799467582]: Service available. Loaded pos_traj_controller [INFO] [1571057475.047821]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1571057475.053126]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1571057475.058700]: Loading controller: joint_state_controller [INFO] [1571057475.080503]: Loading controller: scaled_pos_traj_controller [ros_control_controller_manager-6] process has finished cleanly log file: /home/p285253/.ros/log/4b68eaba-ee81-11e9-ad8b-10e7c621ac30/ros_control_controller_manager-6*.log [INFO] [1571057475.130185]: Loading controller: speed_scaling_state_controller [INFO] [1571057475.136354]: Loading controller: force_torque_sensor_controller [INFO] [1571057475.142168]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1571057475.146020]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

terminal 2: roslaunch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch

output in terminal 2:

SUMMARY ======== … 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] [1571057485.001531619]:

MoveGroup using: - ApplyPlanningSceneService - ClearOctomapService - CartesianPathService - ExecuteTrajectoryService - ExecuteTrajectoryAction - GetPlanningSceneService - KinematicsService - MoveAction - PickPlaceAction - MotionPlanService - QueryPlannersService - StateValidationService

[ INFO] [1571057485.001673346]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1571057485.001738112]: MoveGroup context initialization complete

You can start planning now!

terminal 3: roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true Output in terminal 3:

SUMMARY ========

PARAMETERS

  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES /…

ROS_MASTER_URI=http://localhost:11311

process[rviz_16537_630804599505087381-1]: started with pid [16554] [ INFO] [1571057841.383674351]: rviz version 1.12.17 [ INFO] [1571057841.383710056]: compiled against Qt version 5.5.1 [ INFO] [1571057841.383720504]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1571057842.091827903]: Stereo is NOT SUPPORTED [ INFO] [1571057842.091884976]: OpenGl version: 4.6 (GLSL 4.6). [ INFO] [1571057845.459273996]: Loading robot model ‘ur5e’… [ WARN] [1571057845.459309856]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’ [ INFO] [1571057845.459327487]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1571057845.501690245]: Loading robot model ‘ur5e’… [ WARN] [1571057845.501713478]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’ [ INFO] [1571057845.501722193]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1571057845.584452163]: Starting scene monitor [ INFO] [1571057845.588821042]: Listening to ‘/move_group/monitored_planning_scene’ [ INFO] [1571057845.974598923]: Constructing new MoveGroup connection for group ‘manipulator’ in namespace ‘’ [ WARN] [1571057846.827265585]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace ‘MoveGroupExecuteService’ with ‘MoveGroupExecuteTrajectoryAction’ in move_group.launch [ INFO] [1571057846.842176006]: Ready to take commands for planning group manipulator. [ INFO] [1571057846.842297713]: Looking around: no [ INFO] [1571057846.842375344]: Replanning: no [ WARN] [1571057846.849456909]: Interactive marker ‘EE:goal_ee_link’ contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.

Then, I planned a motion in Rviz, it succeeds, but when I press the execute button, errors happpened: New Output in terminal 1:

[ERROR] [1571057857.641259323]: Can’t accept new action goals. Controller is not running.

New outputs in terminal 2:

[ INFO] [1571057853.198470389]: manipulator[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal) [ INFO] [1571057853.198749599]: manipulator[RRTConnectkConfigDefault]: Created 5 states (2 start + 3 goal) [ INFO] [1571057853.198825319]: ParallelPlan::solve(): Solution found by one or more threads in 0.001333 seconds [ INFO] [1571057853.204060450]: SimpleSetup: Path simplification took 0.005165 seconds and changed from 3 to 2 states [ INFO] [1571057853.211439154]: Planning adapters have added states at index positions: [ 0 ] [ INFO] [1571057857.638956931]: Received new trajectory execution service request… [ WARN] [1571057857.641742353]: Controller scaled_pos_traj_controller failed with error code INVALID_GOAL [ WARN] [1571057857.641909116]: Controller handle scaled_pos_traj_controller reports status FAILED [ INFO] [1571057857.641984913]: Completed trajectory execution with status FAILED … [ INFO] [1571057857.642147358]: Execution completed: FAILED

It seems the scaled_pos_traj_controller can not communicate with the moveit. The moveit package that I was running is from the Build guidance: git clone -b calibration_devel https://github.com/fmauch/universal_robot.git.

Is there someone who has any ideas for this problem?

About this issue

  • Original URL
  • State: closed
  • Created 5 years ago
  • Comments: 16 (1 by maintainers)

Commits related to this issue

Most upvoted comments

A suggested above it seems as if the program was never started on the robot. Did you install the URCap, create a program with the External Control program node and start that program after launching the driver?

You should see those lines in the shell running the driver after starting the program on the teach pendant:

[ INFO] [1571124040.693851608]: Robot requested program
[ INFO] [1571124040.693924407]: Sent program to robot
[ INFO] [1571124040.772090597]: Robot ready to receive control commands.
+2
fmauch on Oct 15, 2019

@cardboardcode I think @Abbyls case is a bit special due to the firewall.

For the driver to work, you should

  1. Install and setup the External Control URCap (**With the ROS-PC’s IP address) and create a Program with the URCap’s program node as explained here: CB3, e-Series
  2. Start the driver handing the IP of the robot as explained here
  3. Load and start the previously generated program on the TP. It will fail if no connection with the ROS-PC can be established with a popup saying The connection to the remote PC could not be established. When this is happening, either the ROS node is not running or the IP setup in the URCap’s installation is wrong. If no error shows, the shell running the ROS node should show the three lines as explained above:
[ INFO] [1571124040.693851608]: Robot requested program
[ INFO] [1571124040.693924407]: Sent program to robot
[ INFO] [1571124040.772090597]: Robot ready to receive control commands.

If you followed these steps and do not see those three lines, please open up a new issue describing exactly, what steps you performed.

+1
fmauch on Oct 17, 2019
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