An easy-to-start configuration for cartesian_controllers on Universal Robots

License: BSD 3-Clause "New" or "Revised" License

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cartesian_controllers_universal_robots's Issues

Error: Invalid parameter "prefix"

Hello,

Steps done

I successfully built ros2 branch for cartesian_controllers (all modules) and cartesian_controllers_universal_robots.
I run my ursim_cb3 for UR10 in docker.
Modified: robot.launch.py line 21 to my robot IP:
"robot_ip", default_value="192.168.56.101", description="The robot's IP address".
In setup.urdf.xacro I changed ur10e to ur10 in relevant lines.

Problem

I run:

ros2 launch cartesian_controllers_universal_robots robot.launch.py

Output:

2 packages had stderr output: cartesian_controller_simulation cartesian_controller_tests
[INFO] [launch]: All log files can be found below /home/mat/.ros/log/2023-12-15-***
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: /opt/ros/humble/bin/xacro ros_ws/install/cartesian_controllers_universal_robots/share/cartesian_controllers_universal_robots/urdf/setup.urdf.xacro robot_ip:=192.168.56.101
Captured stderr output: error: Invalid parameter "prefix"
when instantiating macro: ur_robot (/opt/ros/humble/share/ur_description/urdf/ur_macro.xacro)
in file: ros_ws/install/cartesian_controllers_universal_robots/share/cartesian_controllers_universal_robots/urdf/setup.urdf.xacro

Software

ROS version: ROS2 humble
System: Ubuntu 22.04.
Robot: ursim_cb3 with UR10 or actual robot.

Just to mention I get to work successfully github.com/UniversalRobots/Universal_Robots_ROS2_Driver with joint_space_controller by launching following command:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10 robot_ip:=192.168.56.101

My goal is to test cartesian controllers on UR10 robot (both ursim and actual robot) in similar way like mentioned ur_robot_driver.
Any suggestion how to proceed?

Failed to load /my_cartesian_force_controller/tool from parameter server

Hello, I've successfully test the "Cartesian_Controllers" repository and connect URSim with ROS well to load UR10e robot, but when I want to apply the "my_cartesian_motion_controller" for UR10e, It failed as follows:

[ INFO] [1668155382.759840573]: rviz version 1.14.19
[ INFO] [1668155382.759910563]: compiled against Qt version 5.12.8
[ INFO] [1668155382.759939937]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1668155382.810931919]: Forcing OpenGl version 0.
[ INFO] [1668155386.225931956]: Stereo is NOT SUPPORTED
[ INFO] [1668155386.226221878]: OpenGL device: Mesa Intel(R) HD Graphics 620 (KBL GT2)
[ INFO] [1668155386.226615662]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ INFO] [1668155834.092533574]: Forward dynamics solver initialized
[ INFO] [1668155834.166962850]: Forward dynamics solver has control over 6 joints
[ INFO] [1668155834.412757426]: Failed to load /my_cartesian_force_controller/gravity from parameter server
[ INFO] [1668155834.413440764]: Failed to load /my_cartesian_force_controller/tool from parameter server
[ERROR] [1668155834.425024258]: Robot control is currently inactive. Starting controllers that claim resources is currently not possible. Not starting controller 'my_cartesian_force_controller'
[ERROR] [1668155834.442026611]: Could not switch controllers. The hardware interface combination for the requested controllers is unfeasible.

But before that I also get the problem while load the "robot_status_controller", but it does not affect the connection between ROS and URSim:

[INFO] [1668155380.780386]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1668155380.845601]: Loading controller: robot_status_controller
[ERROR] [1668155380.875519497]: Could not load controller 'robot_status_controller' because controller type 'industrial_robot_status_controller/IndustrialRobotStatusController' does not exist.
[ERROR] [1668155380.875703564]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1668155381.880186]: Failed to load robot_status_controller
[INFO] [1668155381.886836]: Loading controller: my_cartesian_compliance_controller
[ INFO] [1668155382.462315043]: Forward dynamics solver initialized
[ INFO] [1668155382.462456131]: Forward dynamics solver has control over 6 joints
[ WARN] [1668155382.551843282]: Failed to load /my_cartesian_compliance_controller/target_frame_topic from parameter server. Will default to: /my_cartesian_compliance_controller/target_frame
[ INFO] [1668155382.561910420]: Failed to load /my_cartesian_compliance_controller/gravity from parameter server
[ INFO] [1668155382.562596251]: Failed to load /my_cartesian_compliance_controller/tool from parameter server
[INFO] [1668155382.584942]: Controller Spawner: Loaded controllers: joint_state_controller, force_torque_sensor_controller, my_cartesian_compliance_controller
[INFO] [1668155382.609241]: Started controllers: joint_state_controller, force_torque_sensor_controller, my_cartesian_compliance_controller

So how can I fix it and could u give us some tutorial about force control (which node to send what msg....) on UR10e, Thank you.

Changes in package

Hi :)
I am trying to use cartesian controllers on the UR5e.

What I did:

I changed the test_calibration.yaml to my robot its parameters.
Changed ur10 to ur5e in every file.
In the etc/setup.rviz file I copied the code of ur_description/rviz/view_robot.rviz
In Xacro file I changed 'prefix' to 'tf_prefix'
Set robot_ip default to "192.168.1.102" (ip of real robot)

When launching, i get the error of an invalid parameter: "robot_ip" and no robot spawns in Rviz.

Any more steps I have to do to correctly launch the robot.launch.py?

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