Hello everyone! I'm using moveit! package to do motion planning on real dual_ur5 platform.I can ping both the IP adresses of the two arms.All config plugins may work well (like the .yaml files).But the warning occured when I run a Python file with moveit commander：[ WARN] [1508121443.319273668]: Failed to validate trajectory: couldn't receive full current joint state within 1s.
My bringup.launch:
<launch>
<group ns="left">
<arg name="limited" default="false"/>
<arg name="robot_ip" default="192.168.0.108"/>
<arg name="reverse_port" default="50001"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="left_" />
<include file="$(find ur_bringup)/launch/ur5_bringup.launch">
<arg name="limited" value="$(arg limited)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)"/>
</include>
</group>
<group ns="right">
<arg name="limited" default="false"/>
<arg name="robot_ip" default="192.168.0.109"/>
<arg name="reverse_port" default="50002"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="right_" />
<include file="$(find ur_bringup)/launch/ur5_bringup.launch">
<arg name="limited" value="$(arg limited)"/>
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="reverse_port" value="$(arg reverse_port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
<arg name="prefix" value="$(arg prefix)"/>
</include>
</group>
</launch>
controllers.yaml in moveit_config package:
controller_list:
name: "left"
action_ns: left_follow_joint_trajectory
type: FollowJointTrajectory
joints:
- left_shoulder_pan_joint
- left_shoulder_lift_joint
- left_elbow_joint
- left_wrist_1_joint
- left_wrist_2_joint
- left_wrist_3_joint
name: "right"
action_ns: right_follow_joint_trajectory
type: FollowJointTrajectory
joints:
- right_shoulder_pan_joint
- right_shoulder_lift_joint
- right_elbow_joint
- right_wrist_1_joint
- right_wrist_2_joint
- right_wrist_3_joint
The warning in the terminal after runnning the python file:
[ INFO] [1508121442.292992289]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1508121442.293298977]: No optimization objective specified, defaulting to PathLengthOptimizationObjective
[ INFO] [1508121442.293327316]: No planner specified. Using default.
[ INFO] [1508121442.293420818]: RRTConnect: Starting planning with 1 states already in datastructure
[ INFO] [1508121442.314419323]: RRTConnect: Created 4 states (2 start + 2 goal)
[ INFO] [1508121442.314442216]: Solution found in 0.021074 seconds
[ INFO] [1508121442.314505058]: SimpleSetup: Path simplification took 0.000045 seconds and changed from 3 to 2 states
[ INFO] [1508121442.317369505]: Received new trajectory execution service request...
***[ WARN] [1508121443.319273668]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1508121443.319330948]: Execution `enter code here`completed: ABORTED***
ur5_bringup.launch:
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip"/>
<arg name="port" default="50001"/>
<arg name="limited" default="false"/>
<arg name="min_payload" default="0.0"/>
<arg name="max_payload" default="5.0"/>
<arg name="prefix" default="" />
<!-- robot model
<include file="$(find ur_description)/launch/ur5_upload.launch">
<arg name="limited" value="$(arg limited)"/>
</include>-->
<!-- ur common -->
<include file="$(find ur_modern_driver)/launch/ur_common.launch">
<arg name="prefix" value="$(arg prefix)" />
<arg name="robot_ip" value="$(arg robot_ip)"/>
<arg name="port" value="$(arg port)"/>
<arg name="min_payload" value="$(arg min_payload)"/>
<arg name="max_payload" value="$(arg max_payload)"/>
</include>
</launch>
ur_common.launch:
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip" />
<arg name="port" />
<arg name="min_payload" />
<arg name="max_payload" />
<arg name="prefix" default="" />
<arg name="servoj_time" default="0.008" />
<arg name="base_frame" default="$(arg prefix)base" />
<arg name="tool_frame" default="$(arg prefix)tool0_controller" />
<!-- The max_velocity parameter is only used for debugging in the ur_driver. It's not related to actual velocity limits -->
<arg name="max_velocity" default="10.0"/> <!-- [rad/s] -->
<node name="$(arg prefix)robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<remap from="joint_states" to="$(arg prefix)joint_states"/>
</node>
<!-- driver -->
<node name="$(arg prefix)ur_driver" pkg="ur_modern_driver" type="ur_driver" output="screen">
<!-- copy the specified IP address to be consistant with ROS-Industrial spec. -->
<param name="prefix" type="str" value="$(arg prefix)" />
<param name="robot_ip_address" type="str" value="$(arg robot_ip)" />
<param name="min_payload" type="double" value="$(arg min_payload)" />
<param name="max_payload" type="double" value="$(arg max_payload)" />
<param name="max_velocity" type="double" value="$(arg max_velocity)" />
<param name="servoj_time" type="double" value="$(arg servoj_time)" />
<param name="base_frame" type="str" value="$(arg base_frame)"/>
<param name="tool_frame" type="str" value="$(arg tool_frame)"/>
<param name="reverse_port" type="int" value="$(arg port)" />
<remap from="follow_joint_trajectory" to="$(arg prefix)follow_joint_trajectory"/>
</node>
</launch>
Originally posted by yyf on ROS Answers with karma: 23 on 2017-10-18
Post score: 0
