In a real-world scenario you will want to replace the robot description with a description containing the whole scene where the robot is acting in. Make sure to create a program containing this node on the robot and start it. Inside the ROS terminal you should see the output Robot ready to receive control commands. Note: When interacting with the teach pendant, or sending other primary programs to the robot, the program will be stopped. On the ROS terminal you will see an output Connection to robot dropped, waiting for new connection.
In those cases, restart program execution e. Make sure, the IP address setup is correct, as described in the setup guides CB3 robots , e-Series robots. Note: This error can also show up, when the ROS driver is not running. Note: With the current driver version this issue can only happen when the fieldbus is enabled after the ROS driver has been started. If you select "None", save installation and program, then no exception is raised when no connection to the fieldbus scanner can be established note: This is only to get the External Control running.
You probably want to make sure that a connection to the fieldbus scanner can indeed be made. Probably, you are running into This is a known issue and unfortunately we don't have a solution for this. The Nvidia kernel module seems to not compile with every kernel. We recommend to use a multi-machine ROS setup in this situation where a realtime-system is running the robot driver and a separate machine is performing the computations requiring the graphics card. This is mainly because parameters are loaded onto the parameter server before any nodes are started.
Additionally: If the calibration stored on the ROS side doesn't match the one of the robot controller, there's a good chance there is a reason for this and it would be better to make updating it a conscious decision by a human as the driver would not know when updating the model would be convenient or safe. Yes, this is possible. However, if used inside a combined HW interface we recommend to enable non-blocking read functinality.
On the e-Series the robot has to be in remote control mode to accept script code from an external source. This has to be switched from the Teach-Pendant. On the e-Series the robot has to be in remote control mode to accept certain calls on the dashboard server. See Available dashboard commands for details. If you are using a control modes that forwards trajectories to the robot, currently the path tolerance is ignored.
The corresponding interface on the robot and client-library level exists in the form of a "blend radius", but is not utilized by this ROS driver. For more information see this issue.
Not directly, no. For supporting Cartesian controllers inside MoveIt! Skip to content. Star Branches Tags. Could not load branches. Could not load tags. Latest commit. Git stats 1, commits. Failed to load latest commit information. View code. Can this driver be used inside a combined hardware interface? I sent raw script code to the robot but it is not executed Using the dashboard doesn't work Passthrough controllers: The robot does not fully reach trajectory points even though I have specified the path tolerance to be 0 Can I use the Cartesian controllers together with MoveIt!?
Developed in collaboration between: and. How to report an issue Before creating an issue, please have a look at the Troubleshooting section of this document. Factory calibration of the robot inside ROS to reach Cartesian targets precisely. Realtime-enabled communication structure to robustly cope with the 2ms cycle time of the e-Series.
See the Real-time setup guide on how to achieve this Transparent integration of the teach-pendant. With this, the robot can be paused , stopped and resumed without restarting the ROS driver.
This will in the future also enable the usage of ROS-components as part of a more complex UR-program on the teach pendant. ROS-control of the robot can be quit using a service call to continue program execution on the TP. Use the robot's speed-scaling. When speed scaling is active due to safety constraints or the speed slider is used, this gets correctly handled on the ROS side, as well slowing down trajectory execution accordingly.
Also, the pausing function can only be used if the default scaled trajectory controller is used. Posted on Saturday, July 10, - pm:. Posted on Monday, July 12, - pm:. Posted on Tuesday, July 13, - am:.
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