Questions tagged [ur5]

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How does joint torque varies wrt joint velocities in Recursive Newton Euler algorithm?

I'm currently working on solving the inverse dynamics of a 6-axis articulated robot, similar to the UR5, using the recursive Newton-Euler algorithm. I'm very confused with the results I'm getting, as ...
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Bot orienting to same direction regardless of Quaternion value in Moveit

I am trying to control a simulated UR5e bot using ROS. For trajectory planning and execution i am using Moveit. The issue is that when I give a Pose to Moveit, the bot reaches the position (XYZ) just ...
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Creating a Digital Twin Project with ROS1

I'm currently working on a digital twin project using ROS Melodic, aiming to create a virtual replica of a physical UR5 robot equipped with ToF sensors. The objective is to sensors in Gazebo so that ...
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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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Controllers not found when simulating ur5 arm attached to husky in gazebo

I am trying to simulate a Husky robot with a UR5 Arm attached using this tutorial. I've managed to get the Husky with the UR5 attached in gazebo, but when I plan and execute an instruction to move the ...
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71 views

Simulated real hardware not updating position ros2, moveit, rviz

Please let me know if there is any additional information you may need. Hello! I am new here and was hoping to get some help getting started, I have spent two weeks trying to get up and running but am ...
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X-Y axes for UR5 appear reversed

I'm trying to test a kinematic controller that relies on UR5 DH parameters. I'm using UR5 model in universal_robot and the classical DH parameters. The controller works but there is just one problem. ...
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45 views

UR5 arm failing to reach goal position, Unable to sample any valid states

Hi, I have a UR5 robotic arm. The arm is mounted on a table surface. I have created the following xacro (workcell.xacro) for a combination of ...
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UR5 how to convert axis angles to quaternions

Hi, We have a UR5 robotic arm. We use Moveit move_group_interface to send simple pose and joint-space goals to this arm. In ...
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1 answer
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UR5 mounted on table collides with the table at runtime

Hi all, I have a ur5 robotic arm that is mounted on a table surface. I have created a urdf of the workspace digi2.xacro given as ...
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2 answers
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can't spawn 2 bins in gazebo

Hi all hope you al are fine. I am using Ubuntu 16.04 LTS and ROS Kinetic version. I am working on UR5 robot simulation in Gazebo for which I made a custom catkin space and my own pkg named "...
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70 views

[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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AttributeError: 'tuple' object has no attribute 'serialize' - after attempting to execute a plan

Hello. I'm using moveit's move_group_interface in Python 3 and ROS Noetic. I'm trying to save a plan (trajectory), then load it and execute. ...
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1 answer
26 views

Generating IkFast MoveIt Plugin for UR5 from 2 different URDF's

Thanks to the MoveIt tutorial on IkFast Kinematics Solver, I managed to generate a plugin for UR5 using the urdf files in the ur_description from the generic ros-industrial/universal_robot github. ...
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1 answer
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Best ROS distribution for Universal robot

Hi, I am starting a project with a UR5 (CB3) from Universal Robot and I would like to use ROS for this. I have a linux based laptop, with Ubuntu 16.04.6 LTS What is the best ROS distribution to work ...
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1 answer
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Undefined parameters [kinematics_file] while creating urdf

I'm following this tutorial on how to create a new URDF from an UR5 robot and a custom gripper. https://gramaziokohler.github.io/compas_fab/latest/examples/03_backends_ros/...
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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
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One UR5 executing all commands in a 2 UR5 system

I am trying to use moveit to control two UR5 robots in a script. However, one robot is executing all commands sent to both robots. Could anyone point out where my issue is? Please let me know if more ...
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1 answer
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specifying ur5 robot_description in moveit_commander.RobotCommander() initialization

I'm trying to specify the robot_description parameter in initializing the moveit_commander for my robot. As in the documentation the moveit_commander takes a robot_description, which I expect is a ...
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1 answer
11 views

Controlling 2 real ur5 robots

Hello, I am trying to control two real ur5 robots. I'm not really sure how to begin so I've been working on editing my moveit and UniversalRobots/Universal_Robots_ROS_Driver package with this ...
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1 answer
40 views

Error with real UR5: Can't accept new action goals. Controller is not running

I get the following error when I try to send the UR5 a goal: Can't accept new action goals. Controller is not running. Here are the commands I am running: ...
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how to create MoveIt package for robot arm with gripper?

I am trying to create moveit package for robot arm with gripper but it allows only to add one urdf (I have one urdf for the arm one urdf for the gripper)? am working on UR5 arm and using ...
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1 answer
17 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
20 views

Generating UR5 Robot Package with Moveit Setup Assistant

Hello I created moveit package with MSA tool, It gave me a edited URDF for UR5 robot and created its own launch and config directory with neccesary files. And after that I would like to simulate this ...
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UR5+velocity control: runaway robot after getting closer to goal pose

In my algorithm, the robot seemingly moves towards the right position, as the joint velocities reduce, after that the velocities start increasing as the robot moves away. I cannot understand why this ...
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1 answer
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ROS RT300 Force_Torque Sensor Connection with UR5 and ROS

I have a UR5 and Force Torque Sensor FT300 setup. My sensor and UR5 Connected to main PC, which is inside same network as ROS Computer. I would like to receive FT300 topics, but I am not sure how.. In ...
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1 answer
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Rviz shows robot in a "crippled way" using MotionPlanning

Anytime I run Rviz and use Motionplanning the robot is not shown the way it should be... Right now I am trying to follow this tutorial: https://www.youtube.com/watch?v=j6bBxfD_bYs and as soon as I run ...
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1 answer
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Reducing the speed/velocity of a UR5

I'm executing the ros-industrial launch files on a real UR5 robot but I would like to reduce the speed at which it executes my moveit plans. Can anyone advice how I can do that from a python package, ...
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1 answer
8 views

Moveit! self_filter from octomap working for robotiq gripper but not UR5/UR10 body

System: Ubuntu 16.04 / ROS Kinetic / Nuvo-5095GC-022 / Universal Robots UR10 Packages: freenect_stack, geometry2, libfreenect, perception_pcl, trac_ik, universal_robot, ur_modern_driver Hi, Some ...
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1 answer
13 views

UR5 jerky movement [Solved]

Hello, I use a UR5 with ployscope version 3.X, ur_modern_driver, ros kinetic and ubuntu 16.04. My goal is to make the UR5 follow a trajectory. This trajectory is generated with moveit::...
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1 answer
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Can't display occupied voxels octomap using pointcloud2

Fairly new to this so let me know if there's a better way of doing things! I'm attempting dynamic collision avoidance with a Kinect V1 and the ur5 moveit package on ROS kinetic. The PC is running ...
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1 answer
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Mobile arm simulation behaves strangely when adding ros_control plugin for arm

Greetings. My model combining a simple mobile base with the UR10 acts strangely when I add which is needed for controlling the UR10 joints. The strange behavior is that the mobile robot resists ...
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1 answer
26 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
5 views

move_group.setWorkspace() doesn't work?

Hi all! I am working on a project where I have to build lego structures collaberative with a human. Now I am new to moveit and have the cartesian path planning working in gazebo (sinusoidals, pick and ...
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1 answer
5 views

Orientation constraints from current pose

Hello, I'm are trying to use orientation constraints to keep the end effector in the same orientation as the current pose, however I can't get it to work. It always gives the following error: ...
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1 answer
37 views

Moveit- effect of set goal tolerance on performace?

Hi, I am using moveit with a UR5 robotic arm. I have joint angle goals to reach. My question is that does setting a larger goal tolerance using the function move_group.setGoalTolerance(x) helps in ...
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1 answer
16 views

Dual arm UR5 connection with universal robot stack

I want to setup a connection between PC and two UR5 arms , but the topic "follow joint tracjetory" cannot be created.The error displayed is "Action client not connected:...
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1 answer
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command to return version of ur5

Simple question. How do I know which version of UR5 am I running? I am currently attempting to launch a moveit package for a UR5 arm but am running into issues launching the package because depending ...
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1 answer
50 views

Controlling an industrial servo motor through moveit

I want to control an additional motor along with my UR5 using moveit. I have added new controller to the moveit config controllers.yaml called rail_controller and made necessary changes to the URDF ...
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1 answer
11 views

ERROR: Model Parsing the xml failed

Hello, I am trying to create urdf file for the UR5 arm with the Barrett Hand end-effector. I have created this file: ...
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1 answer
10 views

MoveIt! Attach end-effector and fix UR5 arm to the wall

Hello, I am looking for a way to attach end-effector to the UR5 arm I have tried setup assistant but I have not succeeded. My second problem is setting up the environment for the UR5 arm. The arm ...
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1 answer
7 views

start ur5 remotely

Dear Ros Users and UR Users, is there a way to start UR5 remotely? My main purpose is to save energy on a mobile platform where UR5 is mounted on. Thank you! Originally posted by Rahndall on ROS ...
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1 answer
5 views

UR5 - Gazebo 5 - Simulation not moving

I am new to this so forgive me if I ask a dumb question. I am running a Gazebo simulation of UR5 and the robot appears but I can not get it to move without moveit. I tried standard ROS topic calls ...
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1 answer
5 views

UR5 - Robot model does not have a Gripper

If anybody could help, I am new to ROS and we are modeling a Universal Robot 5 from the ROS package supplied however the model does not have the gripper which we have installed in real life. How do I ...
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1 answer
5 views

Define Startup State in MoveIt

Hey guys, i want to declare the startup state of my UR5 Robot for motion planning in MoveIt (using a Python script). Every time i launch the demo file in RViz, the robot is lying flat on the ground (...
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1 answer
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MoveIt! Adding Collision Objects

Hey guys, im trying to add some simple collision objects in Python to my planning scene in RViz to plan some trajectories with my UR5 Robot. I tried something like ...
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1 answer
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cannot connect to ur5

When using the universal_robot function package, use the 30002 port to connect the robot, the prompt cann't connect to mongoDB Originally posted by asdxcsd on ROS Answers with karma: 1 on 2017-02-20 ...
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41 views

Failed converting xacro to urdf

When I run the command rosrun xacro xacro.py ur5.urdf.xacro > ur5.urdf, the result is not as good as I expected. xmlns:xacro="http://www.ros.org/wiki/xacro"> Originally posted by ...
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1 answer
11 views

How to use test_move.py script from ur_modern_driver

Hello, I am currently running on Ubuntu 14.04.5 LTS, UR Software 3.3.0.145, and am running Indigo. I am able to get roslaunch to work, however when I try to run <...
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1 answer
5 views

Can't establish connection to UR5 using ROS-Industrial driver

Hello, I am currently running on Ubuntu 14.04.5 LTS and UR Software 3.3.0.145. I have gone through the ROS tutorial for installing Indigo and setting up my catkin workspace. Next I cloned the the ...
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