[ROS] Run UR using ROS & Python

Summary

It might be hard to control robot by using python script "test_move.py". I share simple manual.

Versions

• ROS Driver version: Melodic
• Affected Robot Software Version(s): 5.3.0
• Affected Robot Hardware Version(s): UR 3e
• Robot Serial Number: -
• UR+ product(s) installed: ExternalControl
• URCaps Software version(s): -

Solution

following Universal_Robots_ROS_Driver/ur_robot_driver/doc/ROS_INTERFACE.md

we should change the topic name from "follow_joint_trajectory" to "scaled_pos_joint_traj_controller/follow_joint_trajectory" of "~/catkin_ws/src/fmauch_universal_robot/ur_driver/test_move.py"

most Importantly, after change your "test_move.py" file. you should follow these steps.

1. power on the robot.
2. release brake of the robot.
3. run "roslaunch ur_robot_driver [YOUR_ROBOT_MODEL]_bringup.launch robot_ip:=[YOUR_ROBOT_IP]"
4. start URcap program "ExternalControl".
5. run "rosrun ur_driver test_move.py "

then your robot is gonna move follow the joint value you've set in "test_move.py".

Q1 = [1.7,-1.6,-0.87996,-2.12741,1.47178,-4.60472]Q2 = [1.6,-1.7,-0.87996,-2.12741,1.47178,-4.60472]Q3 = [1.5,-1.8,-0.87996,-2.12741,1.47178,-4.60472]

!!! Caution !!! You should not use the default value in "test_move.py". you should check the joint value of your robot, and gotta set it safely.

Ref: https://answers.ros.org/question/344391/ur_robot_driver-test_movepy-keeps-on-waiting-for-server/?answer=377525#post-id-377525

How to use test_move.py · Issue #361 · UniversalRobots/Universal_Robots_ROS_Driver