Summary

The robot does not move at all with the rqt_joint_trajectory_controller GUI. Note, I am using kinetic with Ubuntu 16.04.

I am able to run the driver, complete the steps to run the remote control program, switch the controller to “joint_traj_controller”, and launch the rqt gui, but when I move the sliders for joints, nothing happens on the real robot.

Versions

• ROS Driver version: master
• Affected Robot Software Version(s): polyscope 5.3.1
• Affected Robot Hardware Version(s): ur5e
• Robot Serial Number:
• UR+ product(s) installed:
• URCaps Software version(s): External Control V 1.0.1

Impact

The robot does not move while using the rqt_joint_trajectory_controller gui. Also note that the gui crashes if you attempt to use it with the scaled_joint_traj_controller.

Issue details

After starting the driver, running the remote control URCaps program, and putting the teach pendant into remote control mode, I have not been able to make the robot move using the rqt gui. The rqt joint trajectory gui crashes if you attempt to use it with the “scaled_pos_traj_controller”. The program does not crash, but the ur5e does not move when using the “pos_traj_controller”. The speed slider on the trajectory controller seems to have no effect. The rqt gui is definitely publishing on the “/position_traj_controller/command” topic". I haven’t been able to debug why there is no movement. There are no obvious error or warning messages, and the rqt_graph looks normal.

Use Case and Setup

General arm movement. No special setup.

Project status at point of discovered

While attempting to experiment with using the new driver.

Steps to Reproduce

1. Launch the driver with: $ roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=<robot ip>
2. On the teach pendant run the external control program as described in the GIT readme. The driver outputs “Robot ready to receive control commands.”
3. Put the teach pendant in remote control mode.
4. In a second terminal switch the controller with: rosservice call /controller_manager/switch_controller "start_controllers: - 'pos_traj_controller' stop_controllers: - 'scaled_pos_traj_controller' strictness: 1" Service responds “ok: True”
5. Run the rqt gui with: $ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
6. The gui pops up with the pos_traj_controler selected (it is the only option), click the start button on the gui, then move any of the sliders to move joints… nothing happens. The robot does not move.

Expected Behavior

I expect some visible movement, but the joint_state topic remains constant (except for noise) and the robot does not move.