[ROS] Run UR using ROS moveit!

you should aware that, we control UR by using "scaled_pos_joint_traj_controller/follow_joint_trajectory" node.

so you gotta edit something like below.

 

in my case, I'm using UR3e, so move to the directory.

 

so open the "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/launch/ur3_e_moveit_planning_execution.launch" file and change

<!-- Remap follow_joint_trajectory --> <remap if="$(arg sim)" from="/follow_joint_trajectory" to="arm_controller/follow_joint_trajectory"/>

to

<!-- Remap follow_joint_trajectory --> <remap if="$(arg sim)" from="/follow_joint_trajectory" to="scaled_pos_joint_traj_controller/follow_joint_trajectory"/>

 

and open the "/catkin_ws/src/fmauch_universal_robot/ur3_e_moveit_config/config/controllers.yaml"

and change

controller_list: - name: "" action_ns: follow_joint_trajectory

to

controller_list: - name: "scaled_pos_joint_traj_controller" action_ns: follow_joint_trajectory

 

after that,

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 "roslaunch ur3_e_moveit_config ur3_e_moveit_planning_execution.launch"
6. run "roslaunch ur3_e_moveit_config moveit_rviz.launch config:=true"

then you could see the result below.