Two UR5 Robots are coordinated where one robot gets the object by detecting using a camera sensor and

CMake 5.65% Python 53.37% C++ 40.98%

coordinating-two-ur5-robots-for-a-pick-and-place-task's People

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ar-i-enterprise pbassett1996 superjeary markusbuchholz a1814997381 davtalab bwm008 perferom123 lichao-218 pandinosaurus whiskyching hwpengtristin nickalbergo

coordinating-two-ur5-robots-for-a-pick-and-place-task's Issues

when i launch “roslaunch ur5_notebook initialize.launch”，it always [ WARN] [1595058008.523423682, 11.260000000]: Waiting for arm_controller/follow_joint_trajectory to come up

i see the topic through rostopic list

This is the gazebo.

I don't know why it has the problem，can you give me some advices。Thank you！My gmail is [email protected].

catkin_make could not find files

according to the above terminal image it show files not found I have cloned this repository few times but his error remains I thought I was actually missing a file that is why I cloned the rep. and ran catkin_make but still files missing.

Unknown controller type: GripperActionController

It says unknown controller type and I couldn't find where this error is from Please help Thanks.

melodic but cant catkin_make

/home/blue/catkin_ws3/src/ur5_notebook/blocks_poses_publisher.cpp:14:10: fatal error: ur5_notebook/blocks_poses.h: No such file or directory
#include <ur5_notebook/blocks_poses.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/build.make:62: recipe for target 'ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o' failed
make[2]: *** [ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o] Error 1
CMakeFiles/Makefile2:4014: recipe for target 'ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/all' failed
if can help very thanks

load_parameters: unable to set parameters (last param was [/slave/move_group/planner_configs/RRTstar/type=geometric::RRTstar]): cannot marshal None unless allow_none is enabled

I had a error: p gain not specified, I fixed this error and added my own .yaml file:

enable_none: true /gazebo_ros_control: pid_gains: shoulder_pan_joint: p: 100.0 i: 0.01 d: 10.0 shoulder_lift_joint: p: 100.0 i: 0.01 d: 10.0 elbow_joint: p: 100.0 i: 0.01 d: 10.0 wrist_1_joint: p: 100.0 i: 0.01 d: 10.0 wrist_2_joint: p: 100.0 i: 0.01 d: 10.0 wrist_3_joint: p: 100.0 i: 0.01 d: 10.0

now the p gain error is no more but I have this error: load_parameters: unable to set parameters (last param was [/slave/move_group/planner_configs/RRTstar/type=geometric::RRTstar]): cannot marshal None unless allow_none is enabled

and theses are my parameters:

PARAMETERS

/d: 10.0
/elbow_joint: None
/enable_none: True
/gazebo/enable_ros_network: True
/gazebo_ros_control: None
/i: 0.01
/master/arm_controller/action_monitor_rate: 10
/master/arm_controller/constraints/elbow_joint/goal: 0.1
/master/arm_controller/constraints/elbow_joint/trajectory: 0.1
/master/arm_controller/constraints/goal_time: 0.6
/master/arm_controller/constraints/shoulder_lift_joint/goal: 0.1
/master/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/master/arm_controller/constraints/shoulder_pan_joint/goal: 0.1
/master/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/master/arm_controller/constraints/stopped_velocity_tolerance: 0.05
/master/arm_controller/constraints/wrist_1_joint/goal: 0.1
/master/arm_controller/constraints/wrist_1_joint/trajectory: 0.1
/master/arm_controller/constraints/wrist_2_joint/goal: 0.1
/master/arm_controller/constraints/wrist_2_joint/trajectory: 0.1
/master/arm_controller/constraints/wrist_3_joint/goal: 0.1
/master/arm_controller/constraints/wrist_3_joint/trajectory: 0.1
/master/arm_controller/joints: ['shoulder_pan_jo...
/master/arm_controller/state_publish_rate: 25
/master/arm_controller/stop_trajectory_duration: 0.5
/master/arm_controller/type: position_controll...
/master/gripper_controller/action_monitor_rate: 10
/master/gripper_controller/goal_tolerance: 0.002
/master/gripper_controller/joint: robotiq_85_left_k...
/master/gripper_controller/max_effort: 100
/master/gripper_controller/stall_timeout: 1.0
/master/gripper_controller/stall_velocity_threshold: 0.001
/master/gripper_controller/type: position_controll...
/master/joint_group_position_controller/joints: ['shoulder_pan_jo...
/master/joint_group_position_controller/type: position_controll...
/master/joint_state_controller/publish_rate: 50
/master/joint_state_controller/type: joint_state_contr...
/master/move_group/allow_trajectory_execution: True
/master/move_group/capabilities: move_group/MoveGr...
/master/move_group/controller_list: [{'action_ns': 'f...
/master/move_group/endeffector/default_planner_config:
/master/move_group/endeffector/planner_configs: ['SBL', 'EST', 'L...
/master/move_group/jiggle_fraction: 0.05
/master/move_group/manipulator/default_planner_config:
/master/move_group/manipulator/longest_valid_segment_fraction: 0.005
/master/move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
/master/move_group/max_range: 5.0
/master/move_group/max_safe_path_cost: 1
/master/move_group/moveit_controller_manager: moveit_simple_con...
/master/move_group/moveit_manage_controllers: True
/master/move_group/octomap_resolution: 0.025
/master/move_group/planner_configs/BFMT/balanced: 0
/master/move_group/planner_configs/BFMT/cache_cc: 1
/master/move_group/planner_configs/BFMT/extended_fmt: 1
/master/move_group/planner_configs/BFMT/heuristics: 1
/master/move_group/planner_configs/BFMT/nearest_k: 1
/master/move_group/planner_configs/BFMT/num_samples: 1000
/master/move_group/planner_configs/BFMT/optimality: 1
/master/move_group/planner_configs/BFMT/radius_multiplier: 1.0
/master/move_group/planner_configs/BFMT/type: geometric::BFMT
/master/move_group/planner_configs/BKPIECE/border_fraction: 0.9
/master/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
/master/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
/master/move_group/planner_configs/BKPIECE/range: 0.0
/master/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
/master/move_group/planner_configs/BiEST/range: 0.0
/master/move_group/planner_configs/BiEST/type: geometric::BiEST
/master/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
/master/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
/master/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
/master/move_group/planner_configs/BiTRRT/init_temperature: 100
/master/move_group/planner_configs/BiTRRT/range: 0.0
/master/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
/master/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
/master/move_group/planner_configs/EST/goal_bias: 0.05
/master/move_group/planner_configs/EST/range: 0.0
/master/move_group/planner_configs/EST/type: geometric::EST
/master/move_group/planner_configs/FMT/cache_cc: 1
/master/move_group/planner_configs/FMT/extended_fmt: 1
/master/move_group/planner_configs/FMT/heuristics: 0
/master/move_group/planner_configs/FMT/nearest_k: 1
/master/move_group/planner_configs/FMT/num_samples: 1000
/master/move_group/planner_configs/FMT/radius_multiplier: 1.1
/master/move_group/planner_configs/FMT/type: geometric::FMT
/master/move_group/planner_configs/KPIECE/border_fraction: 0.9
/master/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
/master/move_group/planner_configs/KPIECE/goal_bias: 0.05
/master/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
/master/move_group/planner_configs/KPIECE/range: 0.0
/master/move_group/planner_configs/KPIECE/type: geometric::KPIECE
/master/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
/master/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
/master/move_group/planner_configs/LBKPIECE/range: 0.0
/master/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
/master/move_group/planner_configs/LBTRRT/epsilon: 0.4
/master/move_group/planner_configs/LBTRRT/goal_bias: 0.05
/master/move_group/planner_configs/LBTRRT/range: 0.0
/master/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
/master/move_group/planner_configs/LazyPRM/range: 0.0
/master/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
/master/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
/master/move_group/planner_configs/PDST/type: geometric::PDST
/master/move_group/planner_configs/PRM/max_nearest_neighbors: 10
/master/move_group/planner_configs/PRM/type: geometric::PRM
/master/move_group/planner_configs/PRMstar/type: geometric::PRMstar
/master/move_group/planner_configs/ProjEST/goal_bias: 0.05
/master/move_group/planner_configs/ProjEST/range: 0.0
/master/move_group/planner_configs/ProjEST/type: geometric::ProjEST
/master/move_group/planner_configs/RRT/goal_bias: 0.05
/master/move_group/planner_configs/RRT/range: 0.0
/master/move_group/planner_configs/RRT/type: geometric::RRT
/master/move_group/planner_configs/RRTConnect/range: 0.0
/master/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
/master/move_group/planner_configs/RRTstar/delay_collision_checking: 1
/master/move_group/planner_configs/RRTstar/goal_bias: 0.05
/master/move_group/planner_configs/RRTstar/range: 0.0
/master/move_group/planner_configs/RRTstar/type: geometric::RRTstar
/master/move_group/planner_configs/SBL/range: 0.0
/master/move_group/planner_configs/SBL/type: geometric::SBL
/master/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
/master/move_group/planner_configs/SPARS/max_failures: 1000
/master/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
/master/move_group/planner_configs/SPARS/stretch_factor: 3.0
/master/move_group/planner_configs/SPARS/type: geometric::SPARS
/master/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
/master/move_group/planner_configs/SPARStwo/max_failures: 5000
/master/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
/master/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
/master/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
/master/move_group/planner_configs/STRIDE/degree: 16
/master/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
/master/move_group/planner_configs/STRIDE/goal_bias: 0.05
/master/move_group/planner_configs/STRIDE/max_degree: 18
/master/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
/master/move_group/planner_configs/STRIDE/min_degree: 12
/master/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
/master/move_group/planner_configs/STRIDE/range: 0.0
/master/move_group/planner_configs/STRIDE/type: geometric::STRIDE
/master/move_group/planner_configs/STRIDE/use_projected_distance: 0
/master/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
/master/move_group/planner_configs/TRRT/frountier_threshold: 0.0
/master/move_group/planner_configs/TRRT/goal_bias: 0.05
/master/move_group/planner_configs/TRRT/init_temperature: 10e-6
/master/move_group/planner_configs/TRRT/k_constant: 0.0
/master/move_group/planner_configs/TRRT/max_states_failed: 10
/master/move_group/planner_configs/TRRT/min_temperature: 10e-10
/master/move_group/planner_configs/TRRT/range: 0.0
/master/move_group/planner_configs/TRRT/temp_change_factor: 2.0
/master/move_group/planner_configs/TRRT/type: geometric::TRRT
/master/move_group/planning_plugin: ompl_interface/OM...
/master/move_group/planning_scene_monitor/publish_geometry_updates: True
/master/move_group/planning_scene_monitor/publish_planning_scene: True
/master/move_group/planning_scene_monitor/publish_state_updates: True
/master/move_group/planning_scene_monitor/publish_transforms_updates: True
/master/move_group/request_adapters: default_planner_r...
/master/move_group/sensors: [{'point_subsampl...
/master/move_group/start_state_max_bounds_error: 0.1
/master/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
/master/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
/master/move_group/trajectory_execution/allowed_start_tolerance: 0.01
/master/move_group/trajectory_execution/execution_duration_monitoring: False
/master/move_group/use_controller_manager: False
/master/robot_description: <?xml version="1....
/master/robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
/master/robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
/master/robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
/master/robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
/master/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
/master/robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
/master/robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
/master/robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
/master/robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
/master/robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
/master/robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
/master/robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
/master/robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
/master/robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
/master/robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
/master/robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
/master/robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
/master/robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
/master/robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
/master/robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
/master/robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
/master/robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
/master/robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
/master/robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
/master/robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
/master/robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
/master/robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
/master/robot_description_semantic: <?xml version="1....
/master/robot_state_publisher/publish_frequency: 50.0
/master/robot_state_publisher/tf_prefix: robot2_tf
/p: 100.0
/pid_gains: None
/red_box_path: /home/rddl/catkin...
/rosdistro: melodic
/rosversion: 1.14.13
/shoulder_lift_joint: None
/shoulder_pan_joint: None
/slave/arm_controller/action_monitor_rate: 10
/slave/arm_controller/constraints/elbow_joint/goal: 0.1
/slave/arm_controller/constraints/elbow_joint/trajectory: 0.1
/slave/arm_controller/constraints/goal_time: 0.6
/slave/arm_controller/constraints/shoulder_lift_joint/goal: 0.1
/slave/arm_controller/constraints/shoulder_lift_joint/trajectory: 0.1
/slave/arm_controller/constraints/shoulder_pan_joint/goal: 0.1
/slave/arm_controller/constraints/shoulder_pan_joint/trajectory: 0.1
/slave/arm_controller/constraints/stopped_velocity_tolerance: 0.05
/slave/arm_controller/constraints/wrist_1_joint/goal: 0.1
/slave/arm_controller/constraints/wrist_1_joint/trajectory: 0.1
/slave/arm_controller/constraints/wrist_2_joint/goal: 0.1
/slave/arm_controller/constraints/wrist_2_joint/trajectory: 0.1
/slave/arm_controller/constraints/wrist_3_joint/goal: 0.1
/slave/arm_controller/constraints/wrist_3_joint/trajectory: 0.1
/slave/arm_controller/joints: ['shoulder_pan_jo...
/slave/arm_controller/state_publish_rate: 25
/slave/arm_controller/stop_trajectory_duration: 0.5
/slave/arm_controller/type: position_controll...
/slave/gripper_controller/action_monitor_rate: 10
/slave/gripper_controller/goal_tolerance: 0.002
/slave/gripper_controller/joint: robotiq_85_left_k...
/slave/gripper_controller/max_effort: 100
/slave/gripper_controller/stall_timeout: 1.0
/slave/gripper_controller/stall_velocity_threshold: 0.001
/slave/gripper_controller/type: position_controll...
/slave/joint_group_position_controller/joints: ['shoulder_pan_jo...
/slave/joint_group_position_controller/type: position_controll...
/slave/joint_state_controller/publish_rate: 50
/slave/joint_state_controller/type: joint_state_contr...
/slave/move_group/allow_trajectory_execution: True
/slave/move_group/capabilities: move_group/MoveGr...
/slave/move_group/controller_list: [{'action_ns': 'f...
/slave/move_group/endeffector/default_planner_config:
/slave/move_group/endeffector/planner_configs: ['SBL', 'EST', 'L...
/slave/move_group/jiggle_fraction: 0.05
/slave/move_group/manipulator/default_planner_config:
/slave/move_group/manipulator/longest_valid_segment_fraction: 0.005
/slave/move_group/manipulator/planner_configs: ['SBL', 'EST', 'L...
/slave/move_group/max_range: 5.0
/slave/move_group/max_safe_path_cost: 1
/slave/move_group/moveit_controller_manager: moveit_simple_con...
/slave/move_group/moveit_manage_controllers: True
/slave/move_group/octomap_resolution: 0.025
/slave/move_group/planner_configs/BFMT/balanced: 0
/slave/move_group/planner_configs/BFMT/cache_cc: 1
/slave/move_group/planner_configs/BFMT/extended_fmt: 1
/slave/move_group/planner_configs/BFMT/heuristics: 1
/slave/move_group/planner_configs/BFMT/nearest_k: 1
/slave/move_group/planner_configs/BFMT/num_samples: 1000
/slave/move_group/planner_configs/BFMT/optimality: 1
/slave/move_group/planner_configs/BFMT/radius_multiplier: 1.0
/slave/move_group/planner_configs/BFMT/type: geometric::BFMT
/slave/move_group/planner_configs/BKPIECE/border_fraction: 0.9
/slave/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
/slave/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
/slave/move_group/planner_configs/BKPIECE/range: 0.0
/slave/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
/slave/move_group/planner_configs/BiEST/range: 0.0
/slave/move_group/planner_configs/BiEST/type: geometric::BiEST
/slave/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
/slave/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
/slave/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
/slave/move_group/planner_configs/BiTRRT/init_temperature: 100
/slave/move_group/planner_configs/BiTRRT/range: 0.0
/slave/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
/slave/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
/slave/move_group/planner_configs/EST/goal_bias: 0.05
/slave/move_group/planner_configs/EST/range: 0.0
/slave/move_group/planner_configs/EST/type: geometric::EST
/slave/move_group/planner_configs/FMT/cache_cc: 1
/slave/move_group/planner_configs/FMT/extended_fmt: 1
/slave/move_group/planner_configs/FMT/heuristics: 0
/slave/move_group/planner_configs/FMT/nearest_k: 1
/slave/move_group/planner_configs/FMT/num_samples: 1000
/slave/move_group/planner_configs/FMT/radius_multiplier: 1.1
/slave/move_group/planner_configs/FMT/type: geometric::FMT
/slave/move_group/planner_configs/KPIECE/border_fraction: 0.9
/slave/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
/slave/move_group/planner_configs/KPIECE/goal_bias: 0.05
/slave/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
/slave/move_group/planner_configs/KPIECE/range: 0.0
/slave/move_group/planner_configs/KPIECE/type: geometric::KPIECE
/slave/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
/slave/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
/slave/move_group/planner_configs/LBKPIECE/range: 0.0
/slave/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
/slave/move_group/planner_configs/LBTRRT/epsilon: 0.4
/slave/move_group/planner_configs/LBTRRT/goal_bias: 0.05
/slave/move_group/planner_configs/LBTRRT/range: 0.0
/slave/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
/slave/move_group/planner_configs/LazyPRM/range: 0.0
/slave/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
/slave/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
/slave/move_group/planner_configs/PDST/type: geometric::PDST
/slave/move_group/planner_configs/PRM/max_nearest_neighbors: 10
/slave/move_group/planner_configs/PRM/type: geometric::PRM
/slave/move_group/planner_configs/PRMstar/type: geometric::PRMstar
/slave/move_group/planner_configs/ProjEST/goal_bias: 0.05
/slave/move_group/planner_configs/ProjEST/range: 0.0
/slave/move_group/planner_configs/ProjEST/type: geometric::ProjEST
/slave/move_group/planner_configs/RRT/goal_bias: 0.05
/slave/move_group/planner_configs/RRT/range: 0.0
/slave/move_group/planner_configs/RRT/type: geometric::RRT
/slave/move_group/planner_configs/RRTConnect/range: 0.0
/slave/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
/slave/move_group/planner_configs/RRTstar/delay_collision_checking: 1
/slave/move_group/planner_configs/RRTstar/goal_bias: 0.05
/slave/move_group/planner_configs/RRTstar/range: 0.0
/slave/move_group/planner_configs/RRTstar/type: geometric::RRTstar
/slave/move_group/planner_configs/SBL/range: 0.0
/slave/move_group/planner_configs/SBL/type: geometric::SBL
/slave/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
/slave/move_group/planner_configs/SPARS/max_failures: 1000
/slave/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
/slave/move_group/planner_configs/SPARS/stretch_factor: 3.0
/slave/move_group/planner_configs/SPARS/type: geometric::SPARS
/slave/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
/slave/move_group/planner_configs/SPARStwo/max_failures: 5000
/slave/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
/slave/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
/slave/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
/slave/move_group/planner_configs/STRIDE/degree: 16
/slave/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
/slave/move_group/planner_configs/STRIDE/goal_bias: 0.05
/slave/move_group/planner_configs/STRIDE/max_degree: 18
/slave/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
/slave/move_group/planner_configs/STRIDE/min_degree: 12
/slave/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
/slave/move_group/planner_configs/STRIDE/range: 0.0
/slave/move_group/planner_configs/STRIDE/type: geometric::STRIDE
/slave/move_group/planner_configs/STRIDE/use_projected_distance: 0
/slave/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
/slave/move_group/planner_configs/TRRT/frountier_threshold: 0.0
/slave/move_group/planner_configs/TRRT/goal_bias: 0.05
/slave/move_group/planner_configs/TRRT/init_temperature: 10e-6
/slave/move_group/planner_configs/TRRT/k_constant: 0.0
/slave/move_group/planner_configs/TRRT/max_states_failed: 10
/slave/move_group/planner_configs/TRRT/min_temperature: 10e-10
/slave/move_group/planner_configs/TRRT/range: 0.0
/slave/move_group/planner_configs/TRRT/temp_change_factor: 2.0
/slave/move_group/planner_configs/TRRT/type: geometric::TRRT
/slave/move_group/planning_plugin: ompl_interface/OM...
/slave/move_group/planning_scene_monitor/publish_geometry_updates: True
/slave/move_group/planning_scene_monitor/publish_planning_scene: True
/slave/move_group/planning_scene_monitor/publish_state_updates: True
/slave/move_group/planning_scene_monitor/publish_transforms_updates: True
/slave/move_group/request_adapters: default_planner_r...
/slave/move_group/sensors: [{'point_subsampl...
/slave/move_group/start_state_max_bounds_error: 0.1
/slave/move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
/slave/move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
/slave/move_group/trajectory_execution/allowed_start_tolerance: 0.01
/slave/move_group/trajectory_execution/execution_duration_monitoring: False
/slave/move_group/use_controller_manager: False
/slave/robot_description: <?xml version="1....
/slave/robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
/slave/robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
/slave/robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
/slave/robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: False
/slave/robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
/slave/robot_description_planning/joint_limits/elbow_joint/max_acceleration: 0
/slave/robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
/slave/robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: False
/slave/robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
/slave/robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 0
/slave/robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 3.15
/slave/robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: False
/slave/robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
/slave/robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 0
/slave/robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 3.15
/slave/robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: False
/slave/robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
/slave/robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 0
/slave/robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
/slave/robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: False
/slave/robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
/slave/robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 0
/slave/robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
/slave/robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: False
/slave/robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
/slave/robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 0
/slave/robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
/slave/robot_description_semantic: <?xml version="1....
/slave/robot_state_publisher/publish_frequency: 50.0
/slave/robot_state_publisher/tf_prefix: robot1_tf
/use_sim_time: True
/wrist_1_joint: None
/wrist_2_joint: None
/wrist_3_joint: None

I know error is due to these parameters having None as the parameter value but how can I fix these values to? and from where? where are these values ? Please advise

Unknown controller type: GripperActionController

I have this problem :Unknown controller type: GripperActionController, it makes gripper can not work ,and the robot can not get the reb box.thinks for answer.

cant catkin_make

[ 4%] Building CXX object ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o
/home/blue/remake/src/ur5_notebook/blocks_poses_publisher.cpp:14:10: fatal error: ur5_notebook/blocks_poses.h: No such file or directory
#include <ur5_notebook/blocks_poses.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/build.make:62: recipe for target 'ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o' failed
make[2]: *** [ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/blocks_poses_publisher.cpp.o] Error 1
CMakeFiles/Makefile2:4014: recipe for target 'ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/all' failed
make[1]: *** [ur5_notebook/CMakeFiles/blocks_poses_publisher.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
if anyone can help thanks very much ,i used to un comment the block related msg in cmake,but only success once, the second time i catkin is not working.
and when i launch the i met the new problem :
[ WARN] [1671502277.330367680, 0.121000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the tag in joint 'robotiq_85_left_knuckle_joint'.
[ERROR] [1671502277.339858764, 0.121000000]: No p gain specified for pid. Namespace: /slave/gazebo_ros_control/pid_gains/robotiq_85_left_knuckle_joint
[ INFO] [1671502277.474641977, 0.121000000]: Loaded gazebo_ros_control.
[Msg] Loading grasp-fix plugin
[Msg] GazeboGraspFix: Using disable_collisions_on_attach 1
[Msg] GazeboGraspFix: Using update rate 20
[Msg] GazeboGraspFix: Using max_grip_count 8
[Msg] GazeboGraspFix: Using grip_count_threshold 4
[Msg] GazeboGraspFix: Using release_tolerance 0.0091
gzserver: symbol lookup error: /home/blue/catkin_ws3/devel/lib/libgazebo_grasp_fix.so: undefined symbol: _ZN6gazebo10GetPhysicsERKN5boost10shared_ptrINS_7physics5WorldEEE
Traceback (most recent call last):
File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 61, in
controller_manager_interface.load_controller(c)
File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 61, in load_controller
Traceback (most recent call last):
File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 61, in
controller_manager_interface.load_controller(c)
File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 61, in load_controller
Traceback (most recent call last):
File "/opt/ros/melodic/lib/controller_manager/controller_manager", line 49, in
controller_manager_interface.load_controller(c)
File "/opt/ros/melodic/lib/python2.7/dist-packages/controller_manager/controller_manager_interface.py", line 61, in load_controller
Traceback (most recent call last):
File "/opt/ros/melodic/lib/controller_manager/spawner", line 212, in
if name == 'main': main()
File "/opt/ros/melodic/lib/controller_manager/spawner", line 190, in main
resp = load_controller(name)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 442, in call
[ERROR] [1671502277.924174, 0.121000]: Spawn service failed. Exiting.
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details
[ERROR] [1671502277.927793, 0.121000]: Spawn service failed. Exiting.
resp = s.call(LoadControllerRequest(name))
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 533, in call
resp = s.call(LoadControllerRequest(name))
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 533, in call
resp = s.call(LoadControllerRequest(name))
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 533, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
return self.call(args, kwds)
File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 533, in call
raise ServiceException("transport error completing service call: %s"%(str(e)))
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs for details
[WARN] [1671502277.990146, 0.121000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[gazebo-1] process has died [pid 93439, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/gazebo-1.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/gazebo-1.log
[slave/joint_state_controller_spawner-10] process has died [pid 93502, exit code 1, cmd /opt/ros/melodic/lib/controller_manager/controller_manager spawn joint_state_controller __name:=joint_state_controller_spawner __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-joint_state_controller_spawner-10.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-joint_state_controller_spawner-10.log
[slave/ros_control_controller_manager-12] process has died [pid 93531, exit code 1, cmd /opt/ros/melodic/lib/controller_manager/controller_manager load joint_group_position_controller __name:=ros_control_controller_manager __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-ros_control_controller_manager-12.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-ros_control_controller_manager-12.log
[slave/robot_controllers-14] process has died [pid 93545, exit code 1, cmd /opt/ros/melodic/lib/controller_manager/spawner gripper_controller __name:=robot_controllers __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-robot_controllers-14.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-robot_controllers-14*.log
[master/spawn_gazebo_model-18] process has died [pid 93553, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -z 0.205 -y 0.0 -x 0.35 -urdf -param robot_description -model master __name:=spawn_gazebo_model __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/master-spawn_gazebo_model-18.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/master-spawn_gazebo_model-18*.log
[slave/arm_controller_spawner-11] process has died [pid 93518, exit code 1, cmd /opt/ros/melodic/lib/controller_manager/controller_manager spawn arm_controller __name:=arm_controller_spawner __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-arm_controller_spawner-11.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/slave-arm_controller_spawner-11*.log
[bin-3] process has died [pid 93448, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -file /home/blue/catkin_ws3/src/ur5_notebook/urdf/bin.urdf -urdf -model bin -y 0.75 -x -0.85 -z 0.05 __name:=bin __log:=/home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/bin-3.log].
log file: /home/blue/.ros/log/78a8b176-800b-11ed-a677-591360771706/bin-3*.log

Gripper not working.

I get the error Unknown controller type: GripperActionController when i run the launch. The gripper is not closing and also the arm seems to not be fully alligned with the cube.
I would appreciate you help.I get the following errors and warnings

:

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murtazabasu / coordinating-two-ur5-robots-for-a-pick-and-place-task Goto Github PK