Questions tagged [universal-robots]

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joint_trajectory_controller returns SUCCEED but does not move joints

I use Universal_Robots_ROS2_Driver in order to do motion planning with MoveIt in ROS Humble. I use the Pilz Industrial Motion Planner as planning pipeline, which seems to work after some addition to ...
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3 answers
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How can I determine the necessary joint angles given the position of this UR-3 robot?

I'm trying to perform inverse kinematics on this robotic arm with 6 DoF. However, I'm not exactly sure how to start. I know a technique when the last three joints make up a spherical wrist, however, I'...
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Using MoveIt2 to plan a smooth path consisted of several discretized points to control a UR5e robot

I would like to generate a "smooth" trajectory in space, and plan it using Moveit2 (along with ROS2 humble) in order to make a UR5e robot drive these points. I am aware that I need to ...
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Control RG6 Gripper mounted on UR5 robot arm

I want to control the OnRobot RG6 gripper mounted to a UR5 robot arm via ROS noetic. But I am having a problem connecting my PC to the robot with RG6 through Ethernet. UR5 without RG6 was running fine ...
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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 ...
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Universal Robots Driver ROS2 not working

I'm trying to control an UR5 Robot arm using ROS2. To achieve this i've been using the following repo as guideline: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/humble I'm ...
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Moveit with two planning groups

Hello! I have a universal robot that I want to control with moveit, but I have added a custon actuator near the eef, that also needs a goal in order to make the TCP get to the requested positions. I ...
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1 answer
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Using Universal Robot instead of Pandas Arm in MoveIt2 tutorial

I`m using ros2 humble. I also installed the ROS2 Universal Robot Driver. I can start the connection to the UR ...
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1 answer
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Real robot UR3e is not moving with moveit

I am connected to a UR3e over the network, working on ROS2 Foxy, on Ubuntu 20.04, via docker. I set up the right host IP on the robot and robot’s IP in the launch file I installed the external ...
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2 answers
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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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ur_robot_driver: this controller requires a scaled_controllers::ScaledPositionJointInterface

roslaunch ur_robot_driver ur3e_bringup.launch robot_ip:=XXX limited:=true kinematics_config:="${HOME}/my_robot_calibration.yaml" When I ran the above, I ...
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Error publishing data to topic

Hello! I was working on a small python program to control a robot arm in Gazebo. My goal with this small program is to make the arm do an oscillating motion and I use /joint_group_pos_controller/...
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Big difference between simulated robot and real robot (ros_control, position & velocity controllers)

Hello! I've been working with an UR5e robot arm these past few weeks and I've tried to control it using ROS. I'm using the ur_robot_driver to connect to my robot arm. Currently, I'm trying to test out ...
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1 answer
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In MoveIt where is the namespace of the follow_joint_trajectory defined?

I am having maybe a silly problem. I define a MoveIt package for my UR3e robot for Gazebo simulation and it works fine. I define the controllers in simulation as ...
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UR10 Jerky Movements with the Universal_Robots_ROS_Drivers

To Whom It May Concern, I'm trying to use the ur10 CB series with polyscope version 3.12, Universal_Robots_ROS_Driver, ROS-Kinetic, Ubuntu 16.04. I do not want to use moveit to control the hardware. I ...
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1 answer
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Universal Robot Digital I/O

I am using a UR3e and would like to access the digital I/O peripherals on the control box. Does anyone know how to do this? Originally posted by fruitbot on ROS Answers with karma: 19 on 2020-12-22 ...
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Does move_group.plan(sampleJointTargetPose) implement MoveJ by default?

I am using a UR10 real robot. I am not using Universal_Robots_ROS_Driver for robot control. I am using ...
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1 answer
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How can I use the universal robot package with gazebo?

I'm trying to use the universal_robots_ros_driver ( https://github.com/UniversalRobots/Universal_Robots_ROS_Driver) package with a ur manipulator. However, I can't find any documentation regarding how ...
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1 answer
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How can I publish commands to the UR10/UR5?

Using the arm_controller/command topic, how can I publish valid commands to the UR10/UR5? Is there a list of example commands to send. I'm trying to follow https://github.com/ros-industrial/...
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1 answer
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Choosing the right tools for motion planning

Hi everyone, I'm developping a pick and place application with an UR3 robot. I have a action server which send the Pose of the object to pick in my robot's base_link frame. Now I would like to make ...
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1 answer
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universal_robot on Noetic: packages not found

Hi there! I'm trying to connect ROS to a Universal Robots UR5, following this tutorial here: http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-...
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1 answer
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ur_robot_driver: test_move.py keeps on "waiting for server..."

Hello, i wish i could run the script "test_move.py" included in the package the same way it was done with ur_modern_driver. My ROS version is Kinetic and i'm using Ubuntu 16.04. Actually ...
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1 answer
4 views

tf listener does not see specified links in URDF file

Hi, i have been working with a UR10 and need to have the position of the TCP in real time. In a previous post, people recommended me to build a TF listener and when i got that working i could indeed ...
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1 answer
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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
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Interface between ROS and UR Polyscope

Is it possible to interface between UR's Polyscope and ROS. For example, can you command a wait function in Polyscope and let ROS take over control of the robot in the meanwhile? Originally posted by ...
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1 answer
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Universal Robots - joint speed control

Greetings. I am quite new with ROS and I am still pending to identify something. Is there already implemented in ROS the control of joint speeds for Universal Robots manipulators? I have identified ...
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1 answer
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Access to modbus internal IO on UR driver

Hi everyone, Is it possible with the two ur packages to access to the internal IO ? You can access to the physical IO. Thomas Originally posted by ThomasSimon on ROS Answers with karma: 3 on 2018-07-...
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1 answer
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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
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Running a Universal Robot Urp or Script file from ROS PC

Hello, Is it possible to run a Universal Robot Urp file or Script file from ROS PC to control a UR robot in the simulator(rviz/Gazebo)? The use case is that: I have a program (URP file) that is used ...
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1 answer
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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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1 answer
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how do I override the default bounds (max and min) for my payload in ur_driver (and/or ur_modern_driver)?

I'm very very new to ur_driver (urd, for short) and ur_modern_driver (urMd, for short) and I really do not understand how they work. I thought urMd was advertised as a drop in replacement for urd, ...
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1 answer
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Planning complex plans using multiple waypoints with MoveIt

Hi, I am currently doing a school project where we were given the task to "simulate" a welding path using a UR5. Since the welding path has to be very precise we have created a path ...
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1 answer
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ur_modern_driver and teach_mode() URscript command

I'm working with a system using two UR5 arms being controlled via a pair of ur_modern drivers. I'm trying to implement a joystick button to engage teach mode on the arms, mostly because it's sometimes ...
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2 answers
4 views

Improving MoveIt, RViz, and using trac_ik

Hello all, I am currently attempting to use MoveIt and trac_ik to coordinate x4 UR arms for a project in ROS. I had a few questions that maybe someone could help me with/point me in the right ...
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1 answer
5 views

real time interface in ur5 robot

Hello, I am writing my final bachelor project. I have to run an Universal UR5 robot with speech recognition. At the moment I have signs like "right", "left", etc. in python. So I'...
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1 answer
9 views

Dual arm UR10 connection with universal robot stack

Hey, I'm working with two ur10 arms. i can easily set up a connection with the universal robot stack from github using the driver.py with one robot arm. I'm using the ipa320 fork (github.com/ipa320/...
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1 answer
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Does anyone have a ur5 working with moveit and hydro?

I've tested my hydro installation successfully with pr2 and the pr2_moveit_config and the demo.lauch file and I've updated my ur5 move_group.launch file with the requisite move_group/...
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1 answer
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solidworks urdf exporter and robot joint calibration

I'm working with groovy and a universal robots ur5 robot that mounted on shoulder mount in a custom work cell. I've been trying to configure it with the solidworks urdf exporter and I've been coming ...
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