Moveit not working with UR10

[ptiwari0664]

Hi,

I am trying to run UR10 with moveit as per the instructions. However, Moveit is not able to connect with Unity and it says

[ WARN] [1651847479.094899661]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1651847491.095258476]: Action client not connected: /follow_joint_trajectory
[ INFO] [1651847491.145437200]: Returned 0 controllers in list

I have tried multiple options with sim param, as its should remap /follow_joint_trajectory to /arm_controller/follow_joint_trajectory, but it is not able to do it. Has anybody faced the same issue ?

Detailed terminal goes:

root@e540d66baca3:/catkin_ws# roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true limited:=true
... logging to /root/.ros/log/332b26fc-cd45-11ec-9677-0242ac110002/roslaunch-e540d66baca3-10719.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://e540d66baca3:38603/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [10737]
[ INFO] [1651847099.716217232]: Loading robot model 'ur10'...
[ WARN] [1651847099.716655379]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1651847099.716670591]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1651847099.743529660]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1651847099.769913593]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1651847099.771059716]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1651847099.771081300]: Starting planning scene monitor
[ INFO] [1651847099.772341652]: Listening to '/planning_scene'
[ INFO] [1651847099.772365893]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1651847099.773288430]: Listening to '/collision_object'
[ INFO] [1651847099.774191846]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1651847099.774545909]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1651847099.777916526]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1651847099.790731301]: Initializing OMPL interface using ROS parameters
[ INFO] [1651847099.799695248]: Using planning interface 'OMPL'
[ INFO] [1651847099.801389164]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1651847099.801562937]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1651847099.801705782]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847099.801943884]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847099.802200115]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1651847099.802421237]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1651847099.802455819]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1651847099.802473257]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1651847099.802483233]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1651847099.802492383]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1651847099.802502046]: Using planning request adapter 'Fix Start State Path Constraints'
^C[move_group-1] killing on exit
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

You can start planning now!

shutting down processing monitor...
... shutting down processing monitor complete
done
root@e540d66baca3:/catkin_ws# roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true limited:=true
... logging to /root/.ros/log/332b26fc-cd45-11ec-9677-0242ac110002/roslaunch-e540d66baca3-13309.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://e540d66baca3:37537/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'action_ns': 'f...
 * /move_group/endeffector/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/manipulator/longest_valid_segment_fraction: 0.01
 * /move_group/manipulator/planner_configs: ['SBLkConfigDefau...
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/execution_duration_monitoring: False
 * /move_group/use_controller_manager: False
 * /robot_description_kinematics/manipulator/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/manipulator/kinematics_solver_attempts: 3
 * /robot_description_kinematics/manipulator/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/manipulator/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/elbow_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/elbow_joint/max_acceleration: 3.15
 * /robot_description_planning/joint_limits/elbow_joint/max_velocity: 3.15
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_lift_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_acceleration: 2.16
 * /robot_description_planning/joint_limits/shoulder_pan_joint/max_velocity: 2.16
 * /robot_description_planning/joint_limits/wrist_1_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_1_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_1_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_2_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_2_joint/max_velocity: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/has_velocity_limits: True
 * /robot_description_planning/joint_limits/wrist_3_joint/max_acceleration: 3.2
 * /robot_description_planning/joint_limits/wrist_3_joint/max_velocity: 3.2
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    move_group (moveit_ros_move_group/move_group)

ROS_MASTER_URI=http://localhost:11311

process[move_group-1]: started with pid [13331]
[ INFO] [1651847473.999408531]: Loading robot model 'ur10'...
[ WARN] [1651847473.999867721]: Skipping virtual joint 'fixed_base' because its child frame 'base_link' does not match the URDF frame 'world'
[ INFO] [1651847473.999885801]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1651847474.026697789]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/manipulator/kinematics_solver_attempts' from your configuration.
[ INFO] [1651847474.053489726]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1651847474.054688295]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1651847474.054705284]: Starting planning scene monitor
[ INFO] [1651847474.055865953]: Listening to '/planning_scene'
[ INFO] [1651847474.055890018]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1651847474.056981798]: Listening to '/collision_object'
[ INFO] [1651847474.057909013]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1651847474.058257948]: No 3D sensor plugin(s) defined for octomap updates
[ INFO] [1651847474.061443062]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1651847474.074040013]: Initializing OMPL interface using ROS parameters
[ INFO] [1651847474.083310310]: Using planning interface 'OMPL'
[ INFO] [1651847474.085295264]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1651847474.085501257]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1651847474.085693770]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847474.085900324]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1651847474.086092015]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1651847474.086287048]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1651847474.086311449]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1651847474.086323462]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1651847474.086333088]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1651847474.086345243]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1651847474.086353999]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1651847479.094899661]: Waiting for /follow_joint_trajectory to come up
[ WARN] [1651847485.095080548]: Waiting for /follow_joint_trajectory to come up
[ERROR] [1651847491.095258476]: Action client not connected: /follow_joint_trajectory
[ INFO] [1651847491.145437200]: Returned 0 controllers in list
[ INFO] [1651847491.150718714]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1651847491.177652954]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1651847491.177689133]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1651847491.177702904]: MoveGroup context initialization complete

You can start planning now!

[tejasps28]

I'm also facing the same issue!
I have noticed that after following the steps mentioned in the tutorial, i did rostopic list. "/arm_controller" topics come up on the first time, but on re-running the rostopic list command, i have observed that amr_controller doesnt seem to be on the list. Something is causing the arm controller to stop and hence action client says not found.
Please check for the same.

[micahpearlman]

@ptiwari0664 & @tejasps28

It looks like the newer versions of Unity mess up the rigged Unity UR10 model. You can try to re-import the UR10 URDF or wait for us to update.

[tejasps28]

@ptiwari0664 & @tejasps28

It looks like the newer versions of Unity mess up the rigged Unity UR10 model. You can try to re-import the UR10 URDF or wait for us to update.

Hello, thank you for your reply. To re-import the URDF i'll need to follow your "Import URDF" tutorial right?
I shall let you know how this goes.
Also, would this issue be resolved if we try this tutorial in your version of the editor, i.e 2020.1.1f1?

[micahpearlman]

Folllow the "LEO Robot" Example, except for UR10: https://github.com/fsstudio-team/ZeroSimROSUnity#import-urdf

Also, you may need to use a 2020 version of Unity as we have not done any thorough testing with 2021 and it seems to break a lot of things -- we are slowly working through the issues with 2021.

[tejasps28]

Folllow the "LEO Robot" Example, except for UR10: https://github.com/fsstudio-team/ZeroSimROSUnity#import-urdf

Also, you may need to use a 2020 version of Unity as we have not done any thorough testing with 2021 and it seems to break a lot of things -- we are slowly working through the issues with 2021.

Okay, will try this out. Thank you!
Also, yes. I am using Unity version 2020.3.33f1 LTS.

[micahpearlman]

FYI: Some random notes for UR10 Import from awhile ago -- should be still relevant. Note: the ZeroSim Docker image already has UR10 repo in the Catkin Worksapace.

1. Convert STL & DAE meshes to OBJ: /zerosim_tools/convert_meshes_to_obj.sh ./src/universal_robot/ur_description/meshes/ur10/

2. Generate UR10 URDF rosrun xacro xacro src/universal_robot/ur_description/urdf/ur10_robot.urdf.xacro transmission_hw_interface:=hardware_interface/PositionJointInterface > /tmp/ur10.urdf

3. Copy the generated URDF docker cp my_zerosim_vnc_docker:/tmp/ur10.urdf .

4. Copy the meshes: docker cp my_zerosim_vnc_docker:/catkin_ws/src/universal_robot/ur_description/meshes .

5. Fixup the mesh paths

[tejasps28]

@micahpearlman Thanks a lot for this precise guidance. I shall let you know how it goes. Cheers!

[micahpearlman]

@tejasps28 after further analysis I may be sending you down the wrong rabbit hole. Apologies. I am now seeing some weird connection issue through ROS bridge. In the Unity console I'm getting:

ERROR: ZOROSBridgeConnection::ClientReadAsync System.InvalidOperationException: Queue empty.

And in the Docker I'm getting:

[ERROR] [1652115654.246938824]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1652115654.247015161]: Known controllers and their joints:

[tejasps28]

@tejasps28 after further analysis I may be sending you down the wrong rabbit hole. Apologies. I am now seeing some weird connection issue through ROS bridge. In the Unity console I'm getting:

ERROR: ZOROSBridgeConnection::ClientReadAsync System.InvalidOperationException: Queue empty.

And in the Docker I'm getting:

[ERROR] [1652115654.246938824]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1652115654.247015161]: Known controllers and their joints:

Uh, yes. I had noticed these myself too. So could you suggest what's the right way forward?
Also, i did try the aforementioned steps and it didn't seem to work. Got the same error.

[micahpearlman]

Not super clear on that at the moment. Trying to back track to what has changed to have caused this issue -- we haven't done a lot of changes in the past several months, either to the Unity code base or the Docker image -- so it is one of those very odd bugs.

[tejasps28]

Not super clear on that at the moment. Trying to back track to what has changed to have caused this issue -- we haven't done a lot of changes in the past several months, either to the Unity code base or the Docker image -- so it is one of those very odd bugs.

Okay. Please let me know the solution to this when you find the bug. Thank you!

[micahpearlman]

So RQT works just fine (see above). Something broken with the RViz config. Try launching RViz without the configuration and hand configure it?

[micahpearlman]

I'm sure there is just some weird ROS namespace thing or some minor configuration with RViz MoveIt. Take a look at the launch file: /catkin_ws# vim src/zero_sim_ros/launch/ur10_moveit.launch. But it appears RQT and MoveIt! Python works just fine -- RViz I don't have an ETA on fixing this.

[tejasps28]

@micahpearlman Thanks, i did this and was able to reproduce the same using RQT. Willl try rviz configuration manually and let you know how it goes.

[ptiwari0664]

@micahpearlman @tejasps28 Hi, I have found the problem. Just correct the ZO_CONTROLLER_MANAGER_SERVICE in Unity Editor with name undefined_10 -> ur_10_control. It will work. Please correct and commit.

I have verified it with docker and VNC. I will try to test it on noetic as well.