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ROS carshes with new Ployscope 5.15 (Universal_Robots_ROS_Driver)

I Upgraded my UR5e polyscope to new version 5.15, and running my code using latest Universal_Robots_ROS_Driver 2. I’m using ROS1 Noetic version When dashboard’s ...
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How to clone Universal Robots ROS 2 driver packages grom GitHub?

I am trying to install the Universal_Robots_ROS2_Driver package. When following the step 2 Start and Set up, they have mentioned to a way to extract the calibration. However, I tried to clone this ...
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Error establishing the connection between MATLAB and ROS

I am trying to run the following code on MATLAB ...
Devesh Vaish's user avatar
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1 answer
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Error with launching script in MATLAB for ROS

I keep getting this error everytime that the last line does not execute and takes me to the file function generateAndTransferLaunchScriptGettingStarted which points ...
Devesh Vaish's user avatar
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Moveit_servo with ur_modern_driver

I have been working on a UR10 (older version, thus using ur_modern_driver) for pick and place movements. However for a specific case I want to change to smooth servoing towards an object based on ...
LucasMS's user avatar
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1 answer
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Getting preferred (elbow-up/down) IK solution in PyKDL

I am using PyKDL to compute IK solutions for the UR3e arm. However, as we know, multiple solutions are available for IK of the 6-DoF arm, and I need to identify the preferred one. Industrial arms have ...
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ROS2 convert STEP to urdf

For my bachelor project I have to be able to remote control a ur10e robot with gripper in VR. The robot has an adaptive plate attached to its flange, so that it can hold a camera and the gripper. For ...
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1 answer
345 views

How to set planning frame in MoveIt 2

I have a custom MoveIt 2 package for a UR5e robot. While planning and executing the movement, I noticed weird movements where the robot didn't seem to move as expected. I noticed that ...
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Need help on a basic python script that moves the robot through joint movements

I'm currently trying to make the UR10 robot move through ROS2 and I need help doing it. Current setup: Ubuntu Linux - Jammy Jellyfish (22.04) ROS2 Rolling Ridley Universal Robots ROS2 Driver (...
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Calculate UR10e robot payload

I am trying to program a pick-and-place task with a UR10e robot but I am having a problem with the payload, I am trying to move the robot as fast as possible to complete a cycle in less than 6 seconds,...
Diego Carvajal's user avatar
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ROS Noetic driver for UR10e on Wifi connection?

We're trying to route ROS traffic through a mobile base's wifi to a UR10e. I think the RTDE is saturating the connection. Are there options to slow the RTDE rate and maintain functionality with ...
user36324's user avatar
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use the onrobot rg2 gripper simultaneously with ur5 robot over tcp communication

we have a ur5 robot equipped with a onrobot rg2 gripper both which are connected to a common router. The ip of the robot is 192.168.0.100 and I interface with the robot on the ip 192.168.0.101 through ...
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Speed control of UR in Simulation and RealLife

Hi everyone, i’m simulating a ur10 in Gazabo. Unfortunately i don’t know hai to set its speed. The default one that is set when using the Description Pkg form UR and the Gazebo Sim PKG from UR is very ...
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parameter passed to xacro not changing the default one

I'm trying to make a .xacro file for a UR5e robot, that allows choosing the gripper at launch, which means choosing different macros inside of it and I'm doing it based on the answer here. The setup ...
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Which ROS version makes sense for Universal Robot applications?

Hello all, I feel a little bit confused regarding deciding what robotics stack to use for our application with universal robot (ur5e and ur10e) and where to start from. ROS-industrial seems very well ...
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2 answers
51 views

Universal Robot URDF and xacro structure

Hi all, I am trying to create a custom environment for my UR5e robot and having a little bit of a problem understanding the file structure. I would like to have a fixed, not moving object around 1 ...
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1 answer
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Installing libgazebo_ros_moveit_planning_scene.so

Tried sudo apt install ros-noetic-gazebo* sudo apt install ros-noetic-moveit* I assume libgazebo_ros_moveit_planning_scene.so would live in /opt/ros/noetic/lib. I need this lib to publish a world ...
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[Gazebo] child link "base_link" not found (World -> UR5)

I am working on a Gazebo simulation of a UR5 with a Robotiq 2f gripper (ROS Melodic + Ubuntu 18.04) and created my xacro file by loading the ur5 description, creating a world link and attaching the ...
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1 answer
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Intermittent error: "Dropping trajectory point(s), as they occur before the current time. Last point is 0.000000s in the past."

I have started to get these errors intermittently with our two UR5e robots: ...
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1 answer
4 views

What is the relationship between universal-robot and Universal_Robots_ROS_Driver?

From the description, it seems both provide some sort of ROS driver for the UR robot. universal-robot seems to contain additional moveit and gazebo resources, ...
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What does a ROS driver do vs. Python library for robot arm?

Hi! Sorry for the basic question, I'm new to ROS and just having trouble with all the different concepts. https://github.com/SintefManufacturing/python-urx/ This library provides Python access to a UR ...
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1 answer
65 views

How to Increase UR Arm Joint Speed

Hi, I want to increase the universal robot joint speed. I do not set the speed anywhere in my code. The only place I have it set is on the UR touchpad (and it is set to the very max, 191 deg/second). ...
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1 answer
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How to use UR3 with JointGroupPositionController?

So the background is that I want to use the moveit_servo package with a real UR3. I have some questions regarding implementation of the JointGroupPositionController and the UR drivers: The github ...
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2 answers
52 views

Difference between arm_controller and joint_group_position_controller

Hi Can anyone explain to me what arm_controller and joint_group_position_controller in universal robots work? And what is their difference? I get that they are both used for controlling the joints (by ...
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1 answer
15 views

universal robot publishes joint_states in wrong order

Hi I am simulating a UR3e with universal_robot in gazebo. I changed in the file universal_robot/ur_gazebo/arm_controller_ur3.yaml the arm_controller to effort_controllers/JointTrajectoryController ...
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1 answer
113 views

Failed to build tree: child link of joint not found

I am trying to parse the urdf file of the ur3e robot (in order to in the end create kdl tree from it and get jacobians transforms and stuff). I did the same thing as described in Tutorial. When I ...
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1 answer
3 views

move-group not working because "Cylinder dimensions must be non-negative."

I am simulation a UR3e robot in gazebo together with rviz moveit. I get the following error upon launching: ...
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1 answer
23 views

How to emulate a MoveJ, or MoveL movement using ROS?

Hi all, I am currently using a UR5 in simulation and would like to know if there is a way to emulate the way that the UR5 moves from one joint target to another joint target. The movement/trajectory I ...
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2 answers
17 views

"Failed to start controller in realtime loop" with UR/URe robot driver

I am trying to start up a UR5 on ROS Melodic/Ubuntu 18.04 with the ur_robot_driver package, but I am getting the error ...
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1 answer
41 views

Webots - MoveIt! Controlling two UR5e Robots

Hi, I want to contrloll two ur5e arms with Moveit over Webots. My goal is to give them an endeffector pose and they go to that position. It works for one! My problem is to controll more than one. I ...
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1 answer
93 views

Missing joint_state_publisher_gui when l run display.launch

I created a new urdf from original universal-robot package and a 2 finger robotiq gripper (from stl). URDF seems to be ok when i use the check_urdf command but when ...
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1 answer
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UR3 RT remote position control

We're looking for a simple way to control the position of the head (end effector/ TCP) of a UR3e robot. The requirements are simple, we wish to send in real time 6DOF representing the head position in ...
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1 answer
34 views

externalcontrol URCap from ur_robot_driver cannot establish connection with host pc

I am trying to run the externalcontrol node on the UR5 robot, but I get the following message: "The connection to the remote PC could not be established" ...
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1 answer
8 views

Starting state out of bounds for a real UR robot

I am working with a real UR5e robot and I can see the current robot pose and its update when it's moved manualy in moveit. However, I am not able to plan, because it's always Failed result, due to: <...
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1 answer
19 views

Problem with launching ur_gazebo

I am checking out this tutorial on ur_gazebo. I have all the requirements installed. However, when I try roslaunch ur_gazebo ur5.launch, it gives me some errors and ...
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1 answer
122 views

URDF/COLLADA file is not a valid robot model | no name given for the robot | Universal Robots (UR)

I have dowloaded the Universal Robots (UR3, UR5 and UR10) from: http://wiki.ros.org/universal_robot I am trying to load the Urdf | xacro file in Moveit setup assistant...However I cannot load the ...
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1 answer
30 views

Visualizing Trajectory with Moveit on RVIZ for ur10

Hi everyone, I am using universal_robot and moveit packages to work on ur10 robot's rviz simulations. When I was following the tutorials for panda robot on moveit, i was able to move the robot to a ...
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1 answer
33 views

Beginner Question on UR5 robot simulation on Gazebo with Rviz visualization

Dears, I would like to move my UR5 manipulator to a certain point as a demo. I downloaded Universal Robot Repo inside my src folder. And after that I wrote this python code inside my package: ...
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1 answer
19 views

Arm does not appear when using xacro to attach UR5 to Robotiq Gripper

I am trying to attach a Robotiq 2f gripper to a UR5 arm, but cannot get the two components to properly connect to one another. Following the tutorial here, I created the xacro file below, but only the ...
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1 answer
7 views

ROSI and Universal Robot for an industrial application

I have been looking at ROS and ROSI with the intention of using a Universal Robot (UR5) and ROS in a commercial application. I have a fresh Ubuntu Xenial 16.04.05 install with ROS Kinetic. I have been ...
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1 answer
2 views

Got controller gains for six-axis manipulator?

Do you have working PID gains for the effort_controllers/JointTrajectoryController of a six-axis manipulator that I could use as a starting point for tuning the ...
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1 answer
7 views

Problems with ur3 Simulation

Hello, Im pretty new to ros and im trying to get a simulation of a ur3 to work. Ive been following the instructions on the universal_robot Git but i seem to get multiple error messages. When i clone ...
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1 answer
8 views

Follow a moving point

Hello, i want to follow a moving point which i get published by a 3D camera with the tool of my UR3 Robot. So i need to dynamicly update the goal of my movement. I can move to the point statically ...
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1 answer
1 view

Architecture using `ur_modern_driver`

I'm building an architecture for my application and I'd like to know if the functionality represented in the ur_modern_driver part (image below) is correct. This is ...
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1 answer
2 views

Palleting using ROS-I ur_modern_driver

( This may seem to be an uninformed question ) UR Script and the teach pendant have built-in functions for palleting operations. Does similar built-in functions exist in ...
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1 answer
10 views

How to check robot mode on UR5

Hello There, I have some trouble to work with the Getting Started with a Universal Robot and ROS-Industrial. After setting up the ur_modern_driver for our 3.4.X UR5 Robot I tried to execute the ...
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1 answer
6 views

MoveIt only moves one joint

I am facing issues when trying to move more than one joint. I am following the MoveIt tutorial for Python but adding more than one joint, in example: ...
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1 answer
50 views

How to connect to UR Sim from ROS?

I have the UR Sim 3.4.5-100 for simulating the Universal Robots on my computer running Ubuntu 14.04. I want to run the simulation from ROS-Industrial (Indigo) universal_robot package. I noticed that ...
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1 answer
30 views

Part of the robot (UR5 with robotiq gripper) not showing up in gazebo

Hi, I'm working on a simulation combining the UR5 arm and a robotiq 2-finger gripper together. The arm shows up completely in gazebo, but the base of the gripper does not show up despite added ...
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1 answer
6 views

Universal Robot: can I access the joint currents in ROS?

I am successfully able to command my UR10 from a ROS node. I'm using Ubuntu 16.04, ROS Kinetic, the ROS universal robot package, and the ROS ur_modern_driver package (plus a minor code fix that I ...
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