UniversalRobots/Universal_Robots_ROS2_Driver

No Planning Library Loaded

kroglice opened this issue · 3 comments

kroglice commented

Affected ROS2 Driver version(s)

Humble

Used ROS distribution.

Humble

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

From binary packets

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

5.14

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Hello,

I am trying to use this example to control an ur3e sim and real robot, however when i follow the instructions my moveit tells me "No Planning Library Loaded" and the robot does not show in the moveit.

But if i just launch "ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.1.101 launch_rviz:=true initial_joint_controller:=joint_trajectory_controller" and i control the robot via its own software it shows on the rviz and i see it moving.

Can you help me? or give me some guidance. thank you in advance.

I am struggling with this problem.

Relevant log output

No response

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ER-ROUGUI commented

the same issue

RobertWilbrandt commented

Sorry for not answering earlier. If this is still relevant to you: Can you please show the exact set of commands and the full log output that lead to this error? The following sequence works fine for me:

  1. ros2 run ur_client_library start_ursim.sh -m ur3e and start the robot (Using ursim instead of a real robot should not make a difference in this case
  2. ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.56.101 headless_mode:=true
  3. LANG=c ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur3e
  4. Planning through e.g. the rviz that opened with the previous command works without error.

I'm especially confused because you used the binary packets, which should automatically install moveit_planners_ompl on your system. Can you check if ros-humble-moveit-planners-ompl is correctly installed?

fmauch commented

Closing this due to inactivity. If the issue still persists, please feel free to comment / reopen.