Need help on execution #1
Comments
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I use this repo to control YuMi using EGM, along with abb_robot_driver you need to install StateMachine AddIn on YuMi using Robot Studio ( Which will forbid you from using old driver ! ). |
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@bhomaidan1990 Thank you for the details. I tried the steps and in the motion_api_node I got this: The ex3 from bring-up-examples is called in the moveit launch file, in the instructions on abb driver this service should be called in order to activate the egm "rosservice call /yumi/egm/controller_manager/switch_controller "start_controllers: [joint_group_velocity_controller]". As you can see this service (/yumi/egm/controller_manager/switch_controller ) is not called in the rqt graph. Would you please clarify this? |
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@Mahdiford Please provide more details, is the StateMachine AddIn installed on YuMi? what are the log messages there? You can see here that I'm starting the controller. Note that you might need these modifications to the abb robot driver to interface it with MoveIt. If the issue is not solved then, please feel free to open it with further details. |
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@bhomaidan1990 Perfect! Thanks a lot. Now I got some progress. The modifications you mentioned solved some errors when executing launch file and motion API. Now my rqt becomes like this: On the Flexpendant I got starting joint motion for both arms. Also, I installed the original EGM and state machine on the robot side without any modification. I followed ABB's documentation and ex3 example worked fine. But still when I execute the servcall I got this on the motion API side : "===================== Grippers: Calibrated ===================== YuMi MoveIt! motion initialized within 6.971 seconds! Planning Time is: 0.357 seconds! " |
What is the output on the Launch File Terminal? There should be an error message there. |
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@bhomaidan1990 I got this error in moveit_planning_execution.launch `[ INFO] [1656868964.525422929]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner You can start planning now! [ INFO] [1656868968.472338213]: Loading robot model 'yumi'... I tested the ex3 example after applying changes you mentioned and it is not responding as well. This one:
returns true but the ex3 itself has this error: `SUMMARY
NODES auto-starting new master setting /run_id to 70f89cca-faf5-11ec-ace2-1f50950b9fa2 Also, these are the topics that you asked:
and services:
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Can you please choose a different joints values as a goal and assign it here, also you can test if the EGM started that you can move the robot using MoveIt as long as the EGM start motion signal is present for the same controller that you have activated (Left, Right, Both), MoveIt can provide valid and random goals to ensure that the controller runs. As you changed the controllers, the old |
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That is a good point. I can not move the robot with Moveit as well. I got the same error |
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@Mahdiford Have you configured your Communication Configuration as mentioned here? if yes, then I'm not sure why your controller is not running, I need a link to your repo where you put all the code that you are using, and the settings/setup that you are using, so I can debug it tomorrow with the Robot. |
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@bhomaidan1990 I appreciated your help on this issue. I had set up the ips and ports. I will add them to a private repo and share them with you. Later on, I will share the results here for future users. |
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@Mahdiford I have updated your repository with the working code in my case. |
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@bhomaidan1990 Thank you very much for the help. I have the chance to check the updates on the YuMi today. Two points: |
Would you please add some instructions about how to use this repo? There are many features, and I am confused about how to use the pick and place example or even execute the motion_api initialization.
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