Cannot pair Gazebo and MoveIt ([UR3] process has finished cleanly)

asked 2018-05-03 03:08:03 -0500

DiegoR gravatar image

Hi everyone, I am quite new in ROS and Gazebo World, but I am a quick learner. When I start a launch file I made or I've downloaded from GitHub, ROS starts properly the nodes and load the parameters into the server but after that it close controllers nodes. I believe that this is the reason why I cannot pair Gazebo simulation with MoveIt! trajectory planning.

My current Linux version is Ubuntu 16.04 and I am running gazebo 7.12.0 on ROS Kinetics (as Gazebo suggest)

Here's what I get when I try to run ur3.launch file given as an example of UR Robots.


diego@ubuntu:~/tfg_ws$ roslaunch ur_gazebo gazebo_cont.launch ... logging toC:\fakepath\gazebo_cont.launch /home/diego/.ros/log/79980020-4ea9-11e8-a99a-000c29951c1e/roslaunch-ubuntu-22499.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:36059/

SUMMARY

PARAMETERS * /arm_controller/action_monitor_rate: 10 * /arm_controller/constraints/elbow_joint/goal: 0.1 * /arm_controller/constraints/elbow_joint/trajectory: 0.1 * /arm_controller/constraints/goal_time: 0.6 * /arm_controller/constraints/shoulder_lift_joint/goal: 0.1 * /arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /arm_controller/constraints/shoulder_pan_joint/goal: 0.1 * /arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /arm_controller/constraints/stopped_velocity_tolerance: 0.05 * /arm_controller/constraints/wrist_1_joint/goal: 0.1 * /arm_controller/constraints/wrist_1_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_2_joint/goal: 0.1 * /arm_controller/constraints/wrist_2_joint/trajectory: 0.1 * /arm_controller/constraints/wrist_3_joint/goal: 0.1 * /arm_controller/constraints/wrist_3_joint/trajectory: 0.1 * /arm_controller/joints: ['shoulder_pan_jo... * /arm_controller/state_publish_rate: 25 * /arm_controller/stop_trajectory_duration: 0.5 * /arm_controller/type: position_controll... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /robot_description:

NODES / arm_controller_spawner (controller_manager/controller_manager) fake_joint_calibration (rostopic/rostopic) gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) joint_state_controller_spawner (controller_manager/controller_manager) robot_state_publisher (robot_state_publisher/robot_state_publisher) spawner (gazebo_ros/spawn_model)

auto-starting new master process[master]: started with pid [22512] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 79980020-4ea9-11e8-a99a-000c29951c1e process[rosout-1]: started with pid [22525] started core service [/rosout] process[gazebo-2]: started with pid [22542] process[gazebo_gui-3]: started with pid [22547] process[spawner-4]: started with pid [22551] process[robot_state_publisher-5]: started with pid [22553] process[fake_joint_calibration-6]: started with pid [22554] process[joint_state_controller_spawner-7]: started with pid [22555] process[arm_controller_spawner-8]: started with pid [22556] [ INFO] [1525335045.243122289]: Finished loading Gazebo ROS API Plugin. [ INFO] [1525335045.251168850]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... SpawnModel script started [ INFO] [1525335045.836712006, 0.023000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1525335045.887786, 0.000000]: Loading model XML from ros parameter [INFO] [1525335045.892826, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [INFO] [1525335045.894417, 0.000000]: Calling service /gazebo/spawn_urdf_model [ INFO] [1525335045.929183673, 0.089000000]: Physics dynamic reconfigure ready. [INFO] [1525335046.010296, 0.111000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1525335046.215400320, 0.111000000]: Loading gazebo_ros_control plugin [ INFO] [1525335046.215826831, 0.111000000]: Starting gazebo_ros_control plugin in namespace: / [ INFO] [1525335046.220871578, 0.111000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [robot_description] on the ROS param server. [ INFO] [1525335046.341270361, 0.111000000]: Loaded gazebo_ros_control. Loaded arm_controller Loaded joint_state_controller Started ['arm_controller'] successfully Started ['joint_state_controller'] successfully [spawner-4] process has ...

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Comments

This might help you: https://www.youtube.com/watch?v=j6bBxfD_bYs or https://github.com/AS4SR/general_info/wiki/ROS-MoveIt!-and-Gazebo-Integration-(WIP). I did this with an UR5 robot and it was quite straightforward, it's getting a lot more tricky if you don't have a gazebo package of your robot. But luckily the UR packages are quite good & complete. If there's still a problem just comment.

RedJohn gravatar imageRedJohn ( 2018-05-04 01:50:25 -0500 )edit

Thank you! That's very usefull :)

DiegoR gravatar imageDiegoR ( 2018-05-05 04:22:58 -0500 )edit