[ROS Q&A] 003 - How to control a Gazebo simulated robot with MoveIt! (UR5) - Tutorial
Why Robotics Stack Exchange recommends it
Robotics Stack Exchange users link it as a step-by-step walkthrough for getting MoveIt! to control a simulated arm in Gazebo, often when they or others are stuck on controller setup.
Recommended by 3 people across 3 different months, 2018 to 2019.
What it is
A 22-minute ROS Q&A tutorial from The Construct that shows how to drive a Gazebo-simulated UR5 arm with MoveIt!, using Gazebo 7 and ROS Indigo on Ubuntu 14.04. It walks through the setup with accompanying code and a downloadable project.
What people said
Recommends Allwin · 2018-11 · Robotics Stack Exchange · on “Simulating the robot using moveit with ROS”
After generating the moveit_config package you have to do a lot of work to get it working in simulation. 1)make sure your robot urdf has inertia parameters, if not guess them reasonably. 2)add transmissions to all joints in the urdf and load the gazebo_ros_control plugin (check out gazebo grasp_fix plugin incase you have trouble grasping) 3)add create a controller.yaml file specifying which controller you want to use for each joints 4)create a launch file for spawning model, spawning ros_controllers in gazebo 5)edit moveit_controllers.launch to link moveit to the controllers you have spawned. I suggest you go through these links: 1 [LINK] , 2 [LINK] , 3 [this video] , 4 [LINK]
Recommends Joel1394 · 2019-03 · Robotics Stack Exchange · on “Rviz shows robot in a "crippled way" using MotionPlanning”
Anytime I run Rviz and use Motionplanning the robot is not shown the way it should be... Right now I am trying to follow this tutorial: [this video] and as soon as I run the created launch file rviz pops up and shows me a strange representation of my ur5. It looks like every single link is connected to the base link. I had the same issue when I tried the moveit Panda Tutorial. If I only add the robot model it looks fine, but as soon as I add the MotionPlanning it gets weird. Execution from there almost never works... 2 erros I see in the bash (dunno if they are responsible for the behaviour): [ERROR] [1553171470.019237215, 407.916000000]: Could not find the planner configuration 'None' on the par
Recommends kaike_wesley_reis · 2019-06 · Robotics Stack Exchange · on “Moveit with Gazebo - FollowJointTrajectory does not work”
Actually I solve this problem. The steps was: 1 - Followed Exactly this tutorial: tutorial [this video] 2 - I realized that my demo.launch provided by Moveit! Setup Assistant have those commands that are not shown in ANY tutorial: <!-- By default, we do not start a database (it can be large) --> <arg name="db" default="false" /> <!-- Allow user to specify database location --> <arg name="db_path" default="$(find manipulator_h_moveit)/default_warehouse_mongo_db" /> <!-- By default, we are not in debug mode --> <arg name="debug" default="false" /> <!-- By default, hide joint_state_publisher's GUI MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher. The latter one mai
Cites Pawel_www · 2019-04 · Robotics Stack Exchange · on “MoveIt - unable to identify any set of controllers”
Hi Everyone! Actually i `m working with MoveIt! To start, I have watched this tutorial: [this video] i did the same, i can see my robot in rviz (Kuka kr150 3100 prime), i can rotate and etc. But when i press "Execute", nothing happend - i only see error: [ERROR] [1555085718.387324665]: Unable to identify any set of controllers that can actuate the specified joints: [ base_link__link_01 link_01__link_02 link_02__link_03 link_03__link_04 link_04__link_05 link_05__link_06 ] [ERROR] [1555085718.387367066]: Known controllers and their joints: [ERROR] [1555085718.387435223]: Apparently trajectory initialization failed I try to check everything but nothing happend. Here are my files: controller.yaml con