Universal_Robots_ROS_Driver: Not able to control the UR10e, issue with controllers

I fixed it using the Troubleshooting section in the ReadMe:

• install the URCap on the robot and don’t forget the last step of starting the External Control program on the teach pendant.
• for moveit, set the action controller namespace (e.g. here) to scaled_pos_traj_controller/follow_joint_trajectory

Hi,dear all,I have a problem,my robot is UR10e,I followed the steps above to modify the controllers.yalm file But ,when I moved the rviz, the real Hardware cannot move. terminal1:roslaunch ur_robot_driver ur10e_bringup.launch robot_ip:=192.168.1.10 ROS_MASTER_URI=http://localhost:11311

process[robot_state_publisher-1]: started with pid [8384] process[ur_hardware_interface-2]: started with pid [8385] process[ros_control_controller_spawner-3]: started with pid [8386] [ INFO] [1592797670.344381530]: Main thread: SCHED_FIFO OK [ INFO] [1592797670.344479463]: Main thread priority is 99 process[ros_control_stopped_spawner-4]: started with pid [8408] [ INFO] [1592797670.356464561]: Initializing dashboard client [ INFO] [1592797670.358266500]: Connected: Universal Robots Dashboard Server

process[controller_stopper-5]: started with pid [8443] [ INFO] [1592797670.373468917]: Initializing urdriver [ INFO] [1592797670.374089713]: Checking if calibration data matches connected robot. [ INFO] [1592797670.374689783]: Producer thread: SCHED_FIFO OK [ INFO] [1592797670.374725112]: Thread priority is 99 process[ur_hardware_interface/ur_robot_state_helper-6]: started with pid [8465] [ INFO] [1592797670.383746952]: Waiting for controller manager service to come up on /controller_manager/switch_controller [ INFO] [1592797670.384315726]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting… [ERROR] [1592797670.732675171]: The calibration parameters of the connected robot don’t match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [TODO Link to documentation] for details. [INFO] [1592797670.827828]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1592797670.856582]: Controller Spawner: Waiting for service controller_manager/load_controller [ INFO] [1592797671.434940121]: Producer thread: SCHED_FIFO OK [ INFO] [1592797671.435011387]: Thread priority is 99 [ INFO] [1592797671.791331044]: Setting up RTDE communication with frequency 500.000000 [ INFO] [1592797672.829602427]: Producer thread: SCHED_FIFO OK [ INFO] [1592797672.829628161]: Thread priority is 99 [ INFO] [1592797672.829863525]: Loaded ur_robot_driver hardware_interface [ INFO] [1592797672.885147966]: waitForService: Service [/controller_manager/switch_controller] is now available. [ INFO] [1592797672.885178731]: Service available. [ INFO] [1592797672.885193496]: Waiting for controller list service to come up on /controller_manager/list_controllers [ INFO] [1592797672.885982928]: Service available. [INFO] [1592797672.947910]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1592797672.949247]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1592797672.950428]: Loading controller: joint_state_controller [INFO] [1592797672.957540]: Loading controller: scaled_pos_traj_controller [INFO] [1592797672.976145]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1592797672.977477]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1592797672.978721]: Loading controller: pos_traj_controller [INFO] [1592797673.007316]: Loading controller: speed_scaling_state_controller [INFO] [1592797673.046392]: Loading controller: joint_group_vel_controller [ INFO] [1592797673.047499093]: Robot’s safety mode is now NORMAL [ INFO] [1592797673.047703390]: Robot mode is now RUNNING [INFO] [1592797673.051587]: Loading controller: force_torque_sensor_controller [INFO] [1592797673.059231]: Controller Spawner: Loaded controllers: pos_traj_controller, joint_group_vel_controller [INFO] [1592797673.063381]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1592797673.065233]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

terminal2:roslaunch ur10_e_moveit_config ur10_e_moveit_planning_execution.launch limited:=true ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [9208] [ INFO] [1592797854.051201196]: Loading robot model ‘ur10e’… [ WARN] [1592797854.051295497]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’ [ INFO] [1592797854.051308504]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592797854.125901850]: Loading robot model ‘ur10e’… [ WARN] [1592797854.125926664]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’ [ INFO] [1592797854.125937078]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592797854.185997114]: Publishing maintained planning scene on ‘monitored_planning_scene’ [ INFO] [1592797854.188506916]: MoveGroup debug mode is OFF Starting context monitors… [ INFO] [1592797854.188543285]: Starting scene monitor [ INFO] [1592797854.190988216]: Listening to ‘/planning_scene’ [ INFO] [1592797854.191010974]: Starting world geometry monitor [ INFO] [1592797854.193649727]: Listening to ‘/collision_object’ using message notifier with target frame '/world ’ [ INFO] [1592797854.196083260]: Listening to ‘/planning_scene_world’ for planning scene world geometry [ INFO] [1592797854.210392399]: Listening to ‘/attached_collision_object’ for attached collision objects Context monitors started. [ INFO] [1592797854.235757532]: Initializing OMPL interface using ROS parameters [ INFO] [1592797854.261347200]: Using planning interface ‘OMPL’ [ INFO] [1592797854.263725965]: Param ‘default_workspace_bounds’ was not set. Using default value: 10 [ INFO] [1592797854.264163797]: Param ‘start_state_max_bounds_error’ was set to 0.1 [ INFO] [1592797854.264653501]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5 [ INFO] [1592797854.265113411]: Param ‘start_state_max_dt’ was not set. Using default value: 0.5 [ INFO] [1592797854.265552898]: Param ‘jiggle_fraction’ was set to 0.05 [ INFO] [1592797854.265954043]: Param ‘max_sampling_attempts’ was not set. Using default value: 100 [ INFO] [1592797854.265987268]: Using planning request adapter ‘Add Time Parameterization’ [ INFO] [1592797854.266003190]: Using planning request adapter ‘Fix Workspace Bounds’ [ INFO] [1592797854.266019251]: Using planning request adapter ‘Fix Start State Bounds’ [ INFO] [1592797854.266031419]: Using planning request adapter ‘Fix Start State In Collision’ [ INFO] [1592797854.266044115]: Using planning request adapter ‘Fix Start State Path Constraints’ [ WARN] [1592797854.272962671]: Please note that ‘action_ns’ no longer has a default value. [ WARN] [1592797859.284188581]: Waiting for to come up [ WARN] [1592797865.284542412]: Waiting for to come up [ERROR] [1592797871.284845191]: Action client not connected: [ INFO] [1592797871.310685893]: Returned 0 controllers in list [ INFO] [1592797871.345244674]: Trajectory execution is managing controllers Loading ‘move_group/ApplyPlanningSceneService’… Loading ‘move_group/ClearOctomapService’… Loading ‘move_group/MoveGroupCartesianPathService’… Loading ‘move_group/MoveGroupExecuteService’… 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] [1592797871.429074242]:

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

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[ INFO] [1592797871.429223559]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1592797871.429243017]: MoveGroup context initialization complete

You can start planning now!

terminal3:roslaunch ur10_e_moveit_config moveit_rviz.launch config:=true [ INFO] [1592797865.511831797]: rviz version 1.12.17 [ INFO] [1592797865.511965008]: compiled against Qt version 5.5.1 [ INFO] [1592797865.511984839]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1592797865.831713603]: Stereo is NOT SUPPORTED [ INFO] [1592797865.831765019]: OpenGl version: 3 (GLSL 1.3). [ INFO] [1592797869.185638529]: Loading robot model ‘ur10e’… [ WARN] [1592797869.185679559]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’ [ INFO] [1592797869.185704221]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1592797869.231673934]: Loading robot model ‘ur10e’… [ WARN] [1592797869.231718282]: Skipping virtual joint ‘fixed_base’ because its child frame ‘base_link’ does not match the URDF frame ‘world’ [ INFO] [1592797869.231737633]: No root/virtual joint specified in SRDF. Assuming fixed joint [ERROR] [1592797869.295360164]: Client [/move_group] wants topic /feedback to have datatype/md5sum [control_msgs/FollowJointTrajectoryActionFeedback/d8920dc4eae9fc107e00999cce4be641], but our version has [visualization_msgs/InteractiveMarkerFeedback/ab0f1eee058667e28c19ff3ffc3f4b78]. Dropping connection. [ INFO] [1592797869.312682901]: Starting scene monitor [ INFO] [1592797869.315790341]: Listening to ‘/move_group/monitored_planning_scene’ [ INFO] [1592797869.316809390]: waitForService: Service [/get_planning_scene] has not been advertised, waiting… [ INFO] [1592797871.392451288]: waitForService: Service [/get_planning_scene] is now available. [ INFO] [1592797872.012698054]: Constructing new MoveGroup connection for group ‘manipulator’ in namespace ‘’ [ WARN] [1592797872.780346949]: Deprecation warning: Trajectory execution service is deprecated (was replaced by an action). Replace ‘MoveGroupExecuteService’ with ‘MoveGroupExecuteTrajectoryAction’ in move_group.launch [ INFO] [1592797872.784353614]: Ready to take commands for planning group manipulator. [ INFO] [1592797872.784589896]: Looking around: no [ INFO] [1592797872.784654204]: Replanning: no [ WARN] [1592797872.815150812]: 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. [ INFO] [1592797980.078785569]: ABORTED: Solution found but controller failed during execution [ INFO] [1592797988.853524536]: ABORTED: Solution found but controller failed during execution

Could you help me ! I want to move the real Hardware UR10e under the rviz! Thanks

You would have to modify the controllers.yaml like this:

Note: The yaml below has been modified later to match the current controller naming

controller_list:
  - name: ""
    action_ns: /scaled_pos_joint_traj_controller/follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

With that setup I just tested it and it seems to work.

Why isn’t that the default action server in the controllers.yaml file? Isn’t that UR-specific repo? because that action topic is specific to ur_robot_driver, and there are more drivers for UR robots.

ok, I get that, but this is the Quick Start section on a specific driver’s README. I think its safe to assume newbies without familiarity with ROS or UR robots are going be follow that guide in the hopes of getting stuff setup.

What’s the purpose of the existing default one? If with “default one” you are referring to the MoveIt configurations: to provide you with a simple testing ground.

by “default one” I meant specifically this line, which needs to be updated to work with the the ur_robot_driver. I assume the default is for ur_modern_driver or something, but since that driver is deprecated and this current repo is the recommended one to use, its not clear to me why the mismatch is here.

Re the expectation that people write their own MoveIt configurations - that makes sense, but does that mean they would need to write their own action controllers as well?

One last comment on the documentation, which is a bit off this specific issue, but is relevant - The Quickstart is great, but a pointer on where to go next would be useful. Perhaps that’s just a pointer to the MoveIt documentation or something, but now that I have ROS control of the arm, it’s not clear how I start actually doing something with it…

Thanks for hearing me out!