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Questions tagged [ur-modern-driver]

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Difference between joint_trajectory_action and follow_joint_trajectory

I want to find out if there is any difference between joint_trajectory_action and follow_joint_trajectory. I used to use ...
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How to start the ur modern driver in pos based instead of vel based

It is mentioned in the README of the driver that there is a way to switch between the two modes of executing the joint trajectory. However, how should one specify one rather then the other as default ...
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ROS Answers SE migration: UR10e status

What will is to get the status of the ur10e. When it is in some kind of stop for for instance protected stop or when the emergency button is press. I use now the ...
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UR10 tool flange 24V power control

Hi, i have been working on controlling a relay with the power output of the UR10 flange connector. i recently got the ur_modern_driver/io_states publisher working and noticed that it does not publish ...
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ur10 end-effector tf

Hi, I am using ur10 ros driver to get the position of a mounted drilling pin on the end-effector of the robot. I want to do a transformation between the end-effector (...
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How does a ROS node import/export data?

I'm using a Neural Network NN to control a UR5 robot arm. I'm struggling to understand how to exchange information between my ROS network and my neural network. Suppose I'm using ur_modern_driver to ...
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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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Moving UR_Gazebo through test_move.py

I am not able to move the UR simulation with ur_gazebo using action client server like test_move.py. MoveIt with gazebo however ...
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Get IK using `ur_modern_driver`

Is there a way to get Inverse Kinematics using the ur_modern_driver? Something similar to the UR Script function: ...
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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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Action completion from UR controller

Does the UR controller (CB3/UR10) provide any feedback (such as move complete/acknowledgement ) given trajectory commands from ur_modern_driver through ROS or UR ...
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Specifying new trajectory when old trajectory already running- `ur_modern_driver`

I have a trajectory running on the UR10 (in URSim) with 3 points. I'd like to interrupt and send new trajectory commands. I get an error: Goal start doesn't match current pose I looked into : https:/...
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Specifying TCP velocity using ur_modern_driver

The trajectory planner of the ur_modern_driver states: "This method does cubic interpolation between two points, given the absolute time between the, the time ...
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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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Jerky movements of UR10 robot with ur_modern_driver and MoveIt

We have a problem with sometimes jerky moves of UR10 (and UR3 before). We are controlling our UR10 robot via MoveIt + ur_modern_driver combination. All works generally well, trajectories are planned ...
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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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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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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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how to output velosity with ur_modern_driver

I am doing a project about robot-teleoperation now. By using ROS I have accomplished the position-control(even though there are time-delay between the master and slave).I find that the position ...
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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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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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