The real Yumi doesn't move when plan and execute path with Moveit
Closed this issue · 7 comments
Hi @YoshuaNava ,
We decide to do position control through ABB driver and modified the "controller.yaml" file according to your instruction. When I launch the "demo.launch" I got the correct feedback state of the real Yumi. When I plan and execute a path, the virtual Yumi in Rviz move, but the real Yumi doesn't. Do you have any idea what causes the problem?
Best,
Gene
Hello @Gene0213,
Due to our robot being booked atm, I can only look into this starting on Friday. In the meantime, could you send me the output of rostopic list when you run the YuMi nodes on the physical robot?
@Gene0213
Are you still having this problem?
Hi, Yoshua,
I have exactly the same problem. I modified the controller.yaml file, ran abb driver. Trajectory is executed in rviz but real robot doesn't move. Moveit always does a fake execution of trajectory. Here are the results of rostopic list:
/attached_collision_object
/collision_object
/execute_trajectory/cancel
/execute_trajectory/feedback
/execute_trajectory/goal
/execute_trajectory/result
/execute_trajectory/status
/joint_states
/left_arm/feedback_states
/left_arm/joint_path_command
/left_arm/joint_states
/left_arm/joint_trajectory_action/cancel
/left_arm/joint_trajectory_action/feedback
/left_arm/joint_trajectory_action/goal
/left_arm/joint_trajectory_action/result
/left_arm/joint_trajectory_action/status
/left_arm/robot_status
/move_group/cancel
/move_group/display_contacts
/move_group/display_cost_sources
/move_group/display_grasp_markers
/move_group/display_planned_path
/move_group/fake_controller_joint_states
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/motion_plan_request
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/recognized_object_array
/right_arm/feedback_states
/right_arm/joint_path_command
/right_arm/joint_states
/right_arm/joint_trajectory_action/cancel
/right_arm/joint_trajectory_action/feedback
/right_arm/joint_trajectory_action/goal
/right_arm/joint_trajectory_action/result
/right_arm/joint_trajectory_action/status
/right_arm/robot_status
/rosout
/rosout_agg
/rviz_lei_Latitude_5580_30600_3478918543834961267/motionplanning_planning_scene_monitor/parameter_descriptions
/rviz_lei_Latitude_5580_30600_3478918543834961267/motionplanning_planning_scene_monitor/parameter_updates
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/feedback
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update
/rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic/update_full
/tf
/tf_static
/trajectory_execution_event
/yumi/gripper_l_effort_cmd
/yumi/gripper_r_effort_cmd
/yumi/gripper_states
Any ideas?
Best Regards,
Lei
It is working now. After I ran through the launch files, I found out that I made a stupid mistake. I didn't pay attention to the difference between demo.launch and demo_online.launch.
Hi @leishi07
I have done the firmware setup as provided in this repository. Then, I also modified controller.yaml file and ran abb driver.
The robot in rviz is following the trajectory but the real robot is not moving. I also checked the "rostopic list", and it is publishing the topic just like yours.
Can you please help me out?
Thanks.
Hi @leishi07
I have done the firmware setup as provided in this repository. Then, I also modified controller.yaml file and ran abb driver. The robot in rviz is following the trajectory but the real robot is not moving. I also checked the "rostopic list", and it is publishing the topic just like yours. Can you please help me out?
Thanks.
Did you solve this problem?