Could you add a license for your code?
I suggest using github template for example MIT license.

after running this script

rosrun ur_control sim_controller_examples.py -m

I am always getting the following error:

Import ur_ikfast not available, IKFAST would not be supported without it
ft_sensor: True, ee_link: None,
robot_urdf: ur3e
[ WARN] [1642677431.911925953]: link 'robotiq_coupler' material 'flat_black' undefined.
[ WARN] [1642677431.911953314]: link 'robotiq_coupler' material 'flat_black' undefined.
[ WARN] [1642677431.913863821]: link 'robotiq_coupler' material 'flat_black' undefined.
[ WARN] [1642677431.913881508]: link 'robotiq_coupler' material 'flat_black' undefined.
connecting to: /scaled_pos_joint_traj_controller/command
[INFO] [1642677432.433762, 3.823000]: JointTrajectoryController initialized. ns: /
[INFO] [1642677433.019245, 3.844000]: GripperCommandAction initialized. ns: /
publish filtered wrench: /wrench/filtered
[ERROR] [1642677436.037885, 3.961000]: Timed out waiting for /wrench/ topic
Traceback (most recent call last):
File "/hh_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 291, in
main()
File "/hh_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 261, in main
arm = Arm(
File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 108, in init
self._init_ft_sensor()
File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 170, in _init_ft_sensor
self.set_wrench_offset(override=False)
File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 243, in set_wrench_offset
self._update_wrench_offset()
File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 174, in _update_wrench_offset
self.wrench_offset = self.get_filtered_ft().tolist()
File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 229, in get_filtered_ft
ft = [
File "/hh_ws/src/ur3/ur_control/src/ur_control/arm.py", line 230, in
ft[i] if abs(ft[i]) < ft_limitter[i] else ft_limitter[i]
TypeError: 'NoneType' object is not subscriptable

Do you have any idea? Indeed, I can move the robot with the keybord using this script:
rosrun ur_control joint_position_keyboard.py

heoll, I tested your project on ROS Melodic Ubuntu 18.04 with Python 3.6.9
catkin_make, then there are some problems

What can I do to solve this problem? Thank you!

Hello sir, I am trying to run your repo, it works for the RVIZ ("roslaunch ur3_description display_with_gripper.launch") and Gazebo ("roslaunch ur3_gazebo ur3_cubes.launch grasp_plugin:=1"), but when I try to run the scripts it doesn't work ("rosrun ur_control sim_controller_examples.py -m"), it says it can't found the ur_control package, even if it is present, could you help me please?

Hello, thank you for your suggestion about the step joint commands, I will try implementing that and see the results. Moreover, the FT Sensor you were mentioning before did you install it to the UR5 end effector or to the Robotiq grippers and to which link specifically?

Hello, I get the following error when trying to install ur3 repository with Docker:

Command:

$ docker-compose build

Error:

WARNING: The DOCKER_RUNTIME variable is not set. Defaulting to a blank string. ERROR: The Compose file './docker-compose.yml' is invalid because: Unsupported config option for services.ros_ur3: 'runtime'

Any idea what this argument should be or where is it read from?

After i execute " rosrun ur_control moveit_tutorial.py --tutorial"

I get solution found but controller failed during execution

[ INFO] [1634269755.086322848]: Loading robot model 'ur3'...
[ WARN] [1634269755.157867638, 1643.538000000]: IK plugin for group 'arm' relies on deprecated API. Please implement initialize(RobotModel, ...).
[ INFO] [1634269755.161496214, 1643.538000000]: IK Using joint shoulder_link -6.28319 6.28319
[ INFO] [1634269755.161637223, 1643.538000000]: IK Using joint upper_arm_link -6.28319 6.28319
[ INFO] [1634269755.161731493, 1643.538000000]: IK Using joint forearm_link -6.28319 6.28319
[ INFO] [1634269755.161813386, 1643.538000000]: IK Using joint wrist_1_link -6.28319 6.28319
[ INFO] [1634269755.161895847, 1643.538000000]: IK Using joint wrist_2_link -6.28319 6.28319
[ INFO] [1634269755.161986298, 1643.538000000]: IK Using joint wrist_3_link -6.28319 6.28319
[ INFO] [1634269755.162081891, 1643.539000000]: Looking in common namespaces for param name: arm/position_only_ik
[ INFO] [1634269755.163546127, 1643.541000000]: Looking in common namespaces for param name: arm/solve_type
[ INFO] [1634269755.167668683, 1643.546000000]: Using solve type Speed
[ INFO] [1634269756.195190390, 1644.570000000]: Ready to take commands for planning group arm.

Welcome to the MoveIt MoveGroup Python Interface Tutorial

Press Ctrl-D to exit at any time

============ Press Enter to begin the tutorial by setting up the moveit_commander ...

============ Planning frame: world
============ End effector link: ur3_robotiq_hande_gripper
============ Available Planning Groups: ['arm', 'gripper']
============ Printing robot state
joint_state:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "world"
name: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint,
wrist_3_joint, hande_left_finger_joint, hande_right_finger_joint]
position: [1.566860301570573, -1.5668435411999733, 1.2568592740372768, -1.5637091385299646, -1.5637164488965385, -1.5409710760749817e-05, 1.363882040352969e-07, 1.363882040352969e-07]
velocity: []
effort: []
multi_dof_joint_state:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: "world"
joint_names: []
transforms: []
twist: []
wrench: []
attached_collision_objects: []
is_diff: False

============ Press Enter to execute a movement using a joint state goal ...

[ INFO] [1634269768.584891176, 1656.750000000]: ABORTED: Solution found but controller failed during execution
('Current pose', position:
x: -0.131295242951
y: 0.357079426889
z: 0.257162754126
orientation:
x: -0.700000738268
y: -0.698015165505
z: -0.104421863889
w: 0.108948930659)
============ Press Enter to execute a movement using a pose goal ...

Hi,
I've been trying to get the ability to control the grapple on real equipment for a while now, but I'm not able to and I keep failing all the time. Please give me some advice.
ROS melodic
Ubuntu 18.04
gripper 85
ur3 robot
Greetings,
Kuba

Hello I'm trying to use your code.

I tried for both ROS melodic and noetic, both result in the same compilation error.
I followed all the source installation steps.

git clone https://github.com/cambel/ur3
git clone https://bitbucket.org/traclabs/trac_ik.git
git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git universal_robots_ros_driver
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git universal_robot
cd ~/ros_ws
rosinstall ~/ros_ws/src /opt/ros/melodic src/ur3/dependencies.rosinstall
sudo apt-get update
rosdep fix-permissions
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=melodic -y
cd ~/ros_ws/src/gazebo_ros_link_attacher
git checkout melodic-devel
cd ~/ros_ws/src/robotiq
git fetch origin && git checkout melodic-devel

However, catkin clean and catkin build do not exist, I assume these commands were for ROS kinetic.
I instead used catkin_make. This command results in the following error:

Any idea what may cause this?

Thanks in advance.

Summary

Connection to remote PC could not be established

I have been experiencing issues connecting to my UR5e lately (it started few days ago). I read all issues under "connection refused". I have also read issues about not using the correct IP address, in issues #244, #590, #510. However, none of the solutions worked for my problem. Here is my setup:

Version

ROS Driver version: Ubuntu 20.04, ROS noetic
Affected Robot Software Version(s): e-Series
Affected Robot Hardware Version(s): UR5e
URCaps Software version(s): externalcontrol-1.0.5.urcap

Issue

When I run roslaunch ur_robot_driver ur5e_bringup.launch robot_ip:=192.168.1.2, I get the following output:

... logging to /home/ubuntu/.ros/log/c03e5a20-ec68-11ee-bf0d-3b86055ec174/roslaunch-yeesha-55242.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://192.168.1.1:43959/

### SUMMARY
PARAMETERS
 * /controller_stopper/consistent_controllers: ['joint_state_con...
 * /force_torque_sensor_controller/publish_rate: 500
 * /force_torque_sensor_controller/type: force_torque_sens...
 * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_cartesian_traj_controller/type: pass_through_cont...
 * /forward_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /forward_joint_traj_controller/type: pass_through_cont...
 * /hardware_control_loop/loop_hz: 500
 * /joint_based_cartesian_traj_controller/base: base
 * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /joint_based_cartesian_traj_controller/tip: tool0
 * /joint_based_cartesian_traj_controller/type: position_controll...
 * /joint_group_vel_controller/joints: ['shoulder_pan_jo...
 * /joint_group_vel_controller/type: velocity_controll...
 * /joint_state_controller/publish_rate: 500
 * /joint_state_controller/type: joint_state_contr...
 * /pos_joint_traj_controller/action_monitor_rate: 20
 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/goal_time: 0.6
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /pos_joint_traj_controller/state_publish_rate: 500
 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /pos_joint_traj_controller/type: position_controll...
 * /pose_based_cartesian_traj_controller/base: base
 * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo...
 * /pose_based_cartesian_traj_controller/tip: tool0_controller
 * /pose_based_cartesian_traj_controller/type: pose_controllers/...
 * /robot_description: <?xml version="1....
 * /robot_status_controller/handle_name: industrial_robot_...
 * /robot_status_controller/publish_rate: 10
 * /robot_status_controller/type: industrial_robot_...
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2
 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_pos_joint_traj_controller/state_publish_rate: 500
 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_pos_joint_traj_controller/type: position_controll...
 * /scaled_vel_joint_traj_controller/action_monitor_rate: 20
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /scaled_vel_joint_traj_controller/state_publish_rate: 500
 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /scaled_vel_joint_traj_controller/type: velocity_controll...
 * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0
 * /speed_scaling_state_controller/publish_rate: 500
 * /speed_scaling_state_controller/type: scaled_controller...
 * /twist_controller/frame_id: tool0_controller
 * /twist_controller/joints: ['shoulder_pan_jo...
 * /twist_controller/publish_rate: 500
 * /twist_controller/type: ros_controllers_c...
 * /ur_hardware_interface/headless_mode: True
 * /ur_hardware_interface/input_recipe_file: /home/ubuntu/catk...
 * /ur_hardware_interface/joints: ['shoulder_pan_jo...
 * /ur_hardware_interface/kinematics/forearm/pitch: -0.00016429140255...
 * /ur_hardware_interface/kinematics/forearm/roll: 0.000803301646678084
 * /ur_hardware_interface/kinematics/forearm/x: -0.425571422853693
 * /ur_hardware_interface/kinematics/forearm/y: 0
 * /ur_hardware_interface/kinematics/forearm/yaw: 7.935875185502179...
 * /ur_hardware_interface/kinematics/forearm/z: 0
 * /ur_hardware_interface/kinematics/hash: calib_10628223071...
 * /ur_hardware_interface/kinematics/shoulder/pitch: 0
 * /ur_hardware_interface/kinematics/shoulder/roll: 0
 * /ur_hardware_interface/kinematics/shoulder/x: 0
 * /ur_hardware_interface/kinematics/shoulder/y: 0
 * /ur_hardware_interface/kinematics/shoulder/yaw: -2.11788194818401...
 * /ur_hardware_interface/kinematics/shoulder/z: 0.1628274777157086
 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0
 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.57086300824062
 * /ur_hardware_interface/kinematics/upper_arm/x: 0.000231293161590...
 * /ur_hardware_interface/kinematics/upper_arm/y: 0
 * /ur_hardware_interface/kinematics/upper_arm/yaw: 4.633351402548657...
 * /ur_hardware_interface/kinematics/upper_arm/z: 0
 * /ur_hardware_interface/kinematics/wrist_1/pitch: -0.00125106911865...
 * /ur_hardware_interface/kinematics/wrist_1/roll: 0.005474775199585643
 * /ur_hardware_interface/kinematics/wrist_1/x: -0.3928308915412547
 * /ur_hardware_interface/kinematics/wrist_1/y: -0.00072969374769...
 * /ur_hardware_interface/kinematics/wrist_1/yaw: -3.92776315490733...
 * /ur_hardware_interface/kinematics/wrist_1/z: 0.1332815377199781
 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0
 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.571012882644877
 * /ur_hardware_interface/kinematics/wrist_2/x: 7.419279981228044...
 * /ur_hardware_interface/kinematics/wrist_2/y: -0.0997277749748711
 * /ur_hardware_interface/kinematics/wrist_2/yaw: 5.789775618051524...
 * /ur_hardware_interface/kinematics/wrist_2/z: -2.15966334139632...
 * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793
 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.571115667279744
 * /ur_hardware_interface/kinematics/wrist_3/x: 4.181199117549361...
 * /ur_hardware_interface/kinematics/wrist_3/y: 0.09968130861042257
 * /ur_hardware_interface/kinematics/wrist_3/yaw: -3.14159262214027
 * /ur_hardware_interface/kinematics/wrist_3/z: 3.18322785039259e-05
 * /ur_hardware_interface/output_recipe_file: /home/ubuntu/catk...
 * /ur_hardware_interface/reverse_ip: 
 * /ur_hardware_interface/reverse_port: 50001
 * /ur_hardware_interface/robot_ip: 192.168.1.2
 * /ur_hardware_interface/script_command_port: 50004
 * /ur_hardware_interface/script_file: /opt/ros/noetic/s...
 * /ur_hardware_interface/script_sender_port: 50002
 * /ur_hardware_interface/servoj_gain: 2000
 * /ur_hardware_interface/servoj_lookahead_time: 0.03
 * /ur_hardware_interface/tf_prefix: 
 * /ur_hardware_interface/tool_baud_rate: 115200
 * /ur_hardware_interface/tool_parity: 0
 * /ur_hardware_interface/tool_rx_idle_chars: 1.5
 * /ur_hardware_interface/tool_stop_bits: 1
 * /ur_hardware_interface/tool_tx_idle_chars: 3.5
 * /ur_hardware_interface/tool_voltage: 24
 * /ur_hardware_interface/trajectory_port: 50003
 * /ur_hardware_interface/use_spline_interpolation: True
 * /ur_hardware_interface/use_tool_communication: True
 * /ur_tool_communication_bridge/device_name: /tmp/ttyUR
 * /ur_tool_communication_bridge/reverse_ip: 
 * /ur_tool_communication_bridge/reverse_port: 50001
 * /ur_tool_communication_bridge/robot_ip: 192.168.1.2
 * /ur_tool_communication_bridge/script_sender_port: 50002
 * /ur_tool_communication_bridge/tcp_port: 54321
 * /vel_joint_traj_controller/action_monitor_rate: 20
 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/goal_time: 0.6
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05
 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1
 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1
 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05
 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0
 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1
 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05
 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1
 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0
 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo...
 * /vel_joint_traj_controller/state_publish_rate: 500
 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5
 * /vel_joint_traj_controller/type: velocity_controll...
 * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0
 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0

NODES
  /
    controller_stopper (ur_robot_driver/controller_stopper_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    ros_control_controller_spawner (controller_manager/spawner)
    ros_control_stopped_spawner (controller_manager/spawner)
    ur_hardware_interface (ur_robot_driver/ur_robot_driver_node)
    ur_tool_communication_bridge (ur_robot_driver/tool_communication)
  /ur_hardware_interface/
    ur_robot_state_helper (ur_robot_driver/robot_state_helper)

auto-starting new master
process[master]: started with pid [55272]
ROS_MASTER_URI=http://192.168.1.1:11311

setting /run_id to c03e5a20-ec68-11ee-bf0d-3b86055ec174
process[rosout-1]: started with pid [55292]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [55299]
process[ur_hardware_interface-3]: started with pid [55300]
process[ur_tool_communication_bridge-4]: started with pid [55301]
[ INFO] [1711564515.785857859]: Main thread: SCHED_FIFO OK
[ INFO] [1711564515.787148447]: Main thread priority is 99
process[ros_control_controller_spawner-5]: started with pid [55312]
process[ros_control_stopped_spawner-6]: started with pid [55316]
process[controller_stopper-7]: started with pid [55317]
[ INFO] [1711564515.869539295]: Initializing dashboard client
[ INFO] [1711564515.880455072]: Connected: Universal Robots Dashboard Server

process[ur_hardware_interface/ur_robot_state_helper-8]: started with pid [55318]
[ INFO] [1711564515.950774745]: Waiting for controller manager service to come up on /controller_manager/switch_controller
[ INFO] [1711564515.954172397]: Initializing urdriver
[ INFO] [1711564515.955017913]: SCHED_FIFO OK, priority 99
[ INFO] [1711564515.957909686]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting...
[ INFO] [1711564516.198372886]: Negotiated RTDE protocol version to 2.
[ INFO] [1711564516.198663486]: Setting up RTDE communication with frequency 500.000000
[INFO] [1711564516.438916]: Remote device is available at '/tmp/ttyUR'
[INFO] [1711564516.440387]: Starting socat with following command:
socat pty,link=/tmp/ttyUR,raw,ignoreeof,waitslave tcp:192.168.1.2:54321
[INFO] [1711564516.447070]: Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [1711564516.557982]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1711564517.217981022]: Checking if calibration data matches connected robot.
[ INFO] [1711564518.295702941]: Calibration checked successfully.
[ INFO] [1711564518.303088229]: SCHED_FIFO OK, priority 99
[ INFO] [1711564518.303286213]: Loaded ur_robot_driver hardware_interface
[INFO] [1711564518.376328]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1711564518.378965]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1711564518.381546]: Loading controller: joint_based_cartesian_traj_controller
[ INFO] [1711564518.389413847]: waitForService: Service [/controller_manager/switch_controller] is now available.
[ INFO] [1711564518.389460609]: Service available.
[ INFO] [1711564518.389510612]: Waiting for controller list service to come up on /controller_manager/list_controllers
[ INFO] [1711564518.390285015]: Service available.
[INFO] [1711564518.405154]: Loading controller: forward_cartesian_traj_controller
[ INFO] [1711564518.429162744]: Robot mode is now RUNNING
[ INFO] [1711564518.433029174]: Robot's safety mode is now NORMAL
[INFO] [1711564518.437341]: Loading controller: pos_joint_traj_controller
[INFO] [1711564518.505220]: Loading controller: joint_group_vel_controller
[INFO] [1711564518.513043]: Controller Spawner: Loaded controllers: joint_based_cartesian_traj_controller, forward_cartesian_traj_controller, pos_joint_traj_controller, joint_group_vel_controller
[INFO] [1711564518.566813]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1711564518.573472]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1711564518.577677]: Loading controller: pose_based_cartesian_traj_controller
[INFO] [1711564518.593187]: Loading controller: scaled_pos_joint_traj_controller
[INFO] [1711564518.643017]: Loading controller: joint_state_controller
[INFO] [1711564518.651296]: Loading controller: speed_scaling_state_controller
[INFO] [1711564518.665151]: Loading controller: force_torque_sensor_controller
[INFO] [1711564518.675187]: Controller Spawner: Loaded controllers: pose_based_cartesian_traj_controller, scaled_pos_joint_traj_controller, joint_state_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1711564518.684564]: Started controllers: pose_based_cartesian_traj_controller, scaled_pos_joint_traj_controller, joint_state_controller, speed_scaling_state_controller, force_torque_sensor_controller

At this stage, I start the external control on the teach pendant but got the error message "The connection to the remote PC at 192.168.1.1:50002 could not be established. Reason: Connection refused (Connection refused)"

I was able to successfully ping the robot at 192.168.1.2

When I ran telnet 192.168.1.1 50002, I got

Trying 192.168.1.1...
telnet: Unable to connect to remote host: Connection refused

When I ran nc 192.168.1.2, I got
nc: missing port number

when I ran sudo ufw disable, I got Firewall stopped and disabled on system startup
and when I ran ss -alpn | grep 5000 | column -t, I noticed that the 50002 port is not among the available ports

tcp  LISTEN  0  1  0.0.0.0:50001  0.0.0.0:*  users:(("ur_robot_driver",pid=56686,fd=11))
tcp  LISTEN  0  1  0.0.0.0:50003  0.0.0.0:*  users:(("ur_robot_driver",pid=56686,fd=19))
tcp  LISTEN  0  1  0.0.0.0:50004  0.0.0.0:*  users:(("ur_robot_driver",pid=56686,fd=22))

A screenshot is attached below

I have been using this robot for over one year but this issue started recently.
Kindly let me know if you need anymore information. Thank you.

I've tested ur3 motion examples included in python script.

There are still some bugs.

Running this:
rosrun ur_control sim_controller_examples.py --circle
Leads to an error:

ft_sensor: True, ee_link: None, 
 robot_urdf: ur3e
connecting to: /scaled_pos_joint_traj_controller/command
[INFO] [1649506354.883993, 200.621000]: JointTrajectoryController initialized. ns: /
publish filtered wrench: /wrench/filtered
[INFO] [1649506354.935803, 200.667000]: FTSensor successfully initialized
Traceback (most recent call last):
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 291, in <module>
    main()
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 282, in main
    circular_trajectory2()
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 188, in circular_trajectory2
    traj = traj_utils.circunference(p1, p2, steps, axes=[0,2,1])
AttributeError: module 'ur_control.traj_utils' has no attribute 'circunference'
Exception in thread /joint_states:
Traceback (most recent call last):
  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_pubsub.py", line 185, in robust_connect_subscriber
    conn.receive_loop(receive_cb)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 846, in receive_loop
    self.close()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 858, in close
    self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'

Running this:
rosrun ur_control sim_controller_examples.py --grasp_naive
Leads to an error:

ft_sensor: True, ee_link: None, 
 robot_urdf: ur3e
connecting to: /scaled_pos_joint_traj_controller/command
[INFO] [1649506467.742772, 309.963000]: JointTrajectoryController initialized. ns: /
publish filtered wrench: /wrench/filtered
[INFO] [1649506467.793453, 310.009000]: FTSensor successfully initialized
Traceback (most recent call last):
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 291, in <module>
    main()
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 278, in main
    grasp_naive()
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 100, in grasp_naive
    arm.gripper.open()
AttributeError: 'NoneType' object has no attribute 'open'
Exception in thread /scaled_pos_joint_traj_controller/follow_joint_trajectory/result:
Traceback (most recent call last):
  File "/usr/lib/python3.6/threading.py", line 916, in _bootstrap_inner
    self.run()
  File "/usr/lib/python3.6/threading.py", line 864, in run
    self._target(*self._args, **self._kwargs)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_pubsub.py", line 185, in robust_connect_subscriber
    conn.receive_loop(receive_cb)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 846, in receive_loop
    self.close()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 858, in close
    self.socket.close()
AttributeError: 'NoneType' object has no attribute 'close'

Running this:
rosrun ur_control sim_controller_examples.py --grasp_plugin
Leads to an error:

ft_sensor: True, ee_link: None, 
 robot_urdf: ur3e
connecting to: /scaled_pos_joint_traj_controller/command
[INFO] [1649506525.039055, 365.015000]: JointTrajectoryController initialized. ns: /
publish filtered wrench: /wrench/filtered
[INFO] [1649506525.090128, 365.053000]: FTSensor successfully initialized
Traceback (most recent call last):
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 291, in <module>
    main()
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 280, in main
    grasp_plugin()
  File "/root/ros_ws/src/ros_ur3/ur_control/scripts/sim_controller_examples.py", line 115, in grasp_plugin
    arm.gripper.open()
AttributeError: 'NoneType' object has no attribute 'open'

Is it possible to change the ur3 by ur10? If so, how?

i have a same issue: #11.

Here is the result of the compilation (catkin build)

Profile: default
Extending: [env] /home/ksjz/ur10e_hande_ws/devel:/home/ksjz/ros_ws/devel:/opt/ros/melodic
Workspace: /home/ksjz/ros_ws

Build Space: [exists] /home/ksjz/ros_ws/build
Devel Space: [exists] /home/ksjz/ros_ws/devel
Install Space: [unused] /home/ksjz/ros_ws/install
Log Space: [missing] /home/ksjz/ros_ws/logs
Source Space: [exists] /home/ksjz/ros_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '39' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.6 seconds ]
Starting >>> controller_stopper
Starting >>> gazebo_ros_link_attacher
Starting >>> orocos_kdl
Starting >>> robotiq_description
Starting >>> robotiq_ft_sensor
Starting >>> robotiq_gazebo
Starting >>> robotiq_msgs
Starting >>> robotiq_urcap_control
Finished <<< robotiq_description [ 3.7 seconds ]

Warnings << robotiq_ft_sensor:cmake /home/ksjz/ros_ws/logs/robotiq_ft_sensor/build.cmake.000.log
CMake Warning (dev) at CMakeLists.txt:54 (add_dependencies):
Policy CMP0046 is not set: Error on non-existent dependency in
add_dependencies. Run "cmake --help-policy CMP0046" for policy details.
Use the cmake_policy command to set the policy and suppress this warning.

The dependency target "robotiq_ft_sensor_gencfg" of target "rq_test_sensor"
does not exist.
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:50 (add_dependencies):
Policy CMP0046 is not set: Error on non-existent dependency in
add_dependencies. Run "cmake --help-policy CMP0046" for policy details.
Use the cmake_policy command to set the policy and suppress this warning.

The dependency target "robotiq_ft_sensor_gencfg" of target "rq_sensor" does
not exist.
This warning is for project developers. Use -Wno-dev to suppress it.

cd /home/ksjz/ros_ws/build/robotiq_ft_sensor; catkin build --get-env robotiq_ft_sensor | catkin env -si /usr/bin/cmake /home/ksjz/ros_ws/src/robotiq/robotiq_ft_sensor --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ksjz/ros_ws/devel/.private/robotiq_ft_sensor -DCMAKE_INSTALL_PREFIX=/home/ksjz/ros_ws/install; cd -
...............................................................................

Warnings << gazebo_ros_link_attacher:cmake /home/ksjz/ros_ws/logs/gazebo_ros_link_attacher/build.cmake.000.log
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if):
Policy CMP0054 is not set: Only interpret if() arguments as variables or
keywords when unquoted. Run "cmake --help-policy CMP0054" for policy
details. Use the cmake_policy command to set the policy and suppress this
warning.

Quoted variables like "chrono" will no longer be dereferenced when the
policy is set to NEW. Since the policy is not set the OLD behavior will be
used.
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES)
/usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
CMakeLists.txt:28 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

cd /home/ksjz/ros_ws/build/gazebo_ros_link_attacher; catkin build --get-env gazebo_ros_link_attacher | catkin env -si /usr/bin/cmake /home/ksjz/ros_ws/src/gazebo_ros_link_attacher --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ksjz/ros_ws/devel/.private/gazebo_ros_link_attacher -DCMAKE_INSTALL_PREFIX=/home/ksjz/ros_ws/install; cd -
...............................................................................
Finished <<< robotiq_urcap_control [ 8.8 seconds ]

Warnings << robotiq_gazebo:cmake /home/ksjz/ros_ws/logs/robotiq_gazebo/build.cmake.000.log
CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if):
Policy CMP0054 is not set: Only interpret if() arguments as variables or
keywords when unquoted. Run "cmake --help-policy CMP0054" for policy
details. Use the cmake_policy command to set the policy and suppress this
warning.

Quoted variables like "chrono" will no longer be dereferenced when the
policy is set to NEW. Since the policy is not set the OLD behavior will be
used.
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES)
/usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
CMakeLists.txt:11 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.

cd /home/ksjz/ros_ws/build/robotiq_gazebo; catkin build --get-env robotiq_gazebo | catkin env -si /usr/bin/cmake /home/ksjz/ros_ws/src/robotiq/robotiq_gazebo --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ksjz/ros_ws/devel/.private/robotiq_gazebo -DCMAKE_INSTALL_PREFIX=/home/ksjz/ros_ws/install; cd -
...............................................................................
Finished <<< controller_stopper [ 11.3 seconds ]

Warnings << robotiq_ft_sensor:make /home/ksjz/ros_ws/logs/robotiq_ft_sensor/build.make.000.log
In file included from /usr/include/termios.h:25:0,
from /home/ksjz/ros_ws/src/robotiq/robotiq_ft_sensor/src/rq_sensor_com.cpp:49:
/usr/include/features.h:184:3: warning: #warning "_BSD_SOURCE and _SVID_SOURCE are deprecated, use _DEFAULT_SOURCE" [-Wcpp]

warning "_BSD_SOURCE and _SVID_SOURCE are deprecated, use _DEFAULT_SOURCE"

^~~~~~~
cd /home/ksjz/ros_ws/build/robotiq_ft_sensor; catkin build --get-env robotiq_ft_sensor | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished <<< robotiq_ft_sensor [ 12.9 seconds ]
Finished <<< robotiq_msgs [ 14.3 seconds ]
Starting >>> trac_ik_lib
Finished <<< gazebo_ros_link_attacher [ 23.9 seconds ]
Finished <<< robotiq_gazebo [ 25.0 seconds ]
Starting >>> ur_dashboard_msgs
Starting >>> ur_description
Starting >>> ur_e_description
Starting >>> ur_handeye_calibration
Starting >>> ur_kinematics
Starting >>> ur_msgs

Warnings << orocos_kdl:make /home/ksjz/ros_ws/logs/orocos_kdl/build.make.000.log
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp: In static member function ‘static KDL::Path* KDL::Path::Read(std::istream&)’:
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:81:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr orient( RotationalInterpolation::Read(is) );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:102:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr orient( RotationalInterpolation::Read(is) );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:122:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr orient( RotationalInterpolation::Read(is) );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:123:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr<Path_RoundedComposite> tr(
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:142:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr<Path_Composite> tr( new Path_Composite() );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:155:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr tr( Path::Read(is) );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.cpp: In member function ‘virtual KDL::Path* KDL::Path_Composite::Clone()’:
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.cpp:113:7: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr<Path_Composite> comp( new Path_Composite() );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:79,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.hpp:48,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.cpp:43:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp: In member function ‘void KDL::Path_RoundedComposite::Add(const KDL::Frame&)’:
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:108:9: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr < Path
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:79,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.hpp:51,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.hpp:47,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:43:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:112:9: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
std::auto_ptr < Path
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:79,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.hpp:51,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.hpp:47,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:43:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp: In static member function ‘static KDL::Trajectory* KDL::Trajectory::Read(std::istream&)’:
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:65:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr geom( Path::Read(is) );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:44:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
/home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:66:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
auto_ptr motprof( VelocityProfile::Read(is) );
^~~~~~~~
In file included from /usr/include/c++/7/bits/locale_conv.h:41:0,
from /usr/include/c++/7/locale:43,
from /usr/include/c++/7/iomanip:43,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42,
from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:44:
/usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here
template class auto_ptr;
^~~~~~~~
cd /home/ksjz/ros_ws/build/orocos_kdl; catkin build --get-env orocos_kdl | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished <<< orocos_kdl [ 32.4 seconds ]
Starting >>> ur_pykdl

Errors << trac_ik_lib:make /home/ksjz/ros_ws/logs/trac_ik_lib/build.make.000.log
/usr/bin/ld: cannot find -lnlopt_cxx
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ksjz/ros_ws/devel/.private/trac_ik_lib/lib/libtrac_ik.so] Error 1
make[1]: *** [CMakeFiles/trac_ik.dir/all] Error 2
make: *** [all] Error 2
cd /home/ksjz/ros_ws/build/trac_ik_lib; catkin build --get-env trac_ik_lib | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << trac_ik_lib:make [ Exited with code 2 ]
Failed <<< trac_ik_lib [ 21.7 seconds ]
Abandoned <<< ur3_description [ Unrelated job failed ]
Abandoned <<< robotiq_control [ Unrelated job failed ]
Abandoned <<< python_orocos_kdl [ Unrelated job failed ]
Abandoned <<< orocos_kinematics_dynamics [ Unrelated job failed ]
Abandoned <<< trac_ik_examples [ Unrelated job failed ]
Abandoned <<< trac_ik_kinematics_plugin [ Unrelated job failed ]
Abandoned <<< trac_ik_python [ Unrelated job failed ]
Abandoned <<< ur3_gazebo [ Unrelated job failed ]
Abandoned <<< ur_control [ Unrelated job failed ]
Abandoned <<< ur10_moveit_config [ Unrelated job failed ]
Abandoned <<< ur10e_moveit_config [ Unrelated job failed ]
Abandoned <<< ur16e_moveit_config [ Unrelated job failed ]
Abandoned <<< ur3_moveit_config [ Unrelated job failed ]
Abandoned <<< ur3e_moveit_config [ Unrelated job failed ]
Abandoned <<< ur5_moveit_config [ Unrelated job failed ]
Abandoned <<< ur5e_moveit_config [ Unrelated job failed ]
Abandoned <<< ur_gazebo [ Unrelated job failed ]
Abandoned <<< ur_gripper_85_moveit_config [ Unrelated job failed ]
Abandoned <<< ur_hande_moveit_config [ Unrelated job failed ]
Abandoned <<< ur_robot_driver [ Unrelated job failed ]
Abandoned <<< ur_calibration [ Unrelated job failed ]
Finished <<< ur_description [ 5.2 seconds ]
Finished <<< ur_e_description [ 4.9 seconds ]
Finished <<< ur_handeye_calibration [ 5.1 seconds ]
Finished <<< ur_pykdl [ 6.8 seconds ]
Finished <<< ur_dashboard_msgs [ 17.4 seconds ]
Finished <<< ur_msgs [ 10.8 seconds ]

Warnings << ur_kinematics:make /home/ksjz/ros_ws/logs/ur_kinematics/build.make.000.log
In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:75:0:
/opt/ros/melodic/include/class_loader/class_loader.h:36:2: warning: #warning Including header <class_loader/class_loader.h> is deprecated, include <class_loader/class_loader.hpp> instead. [-Wcpp]
#warning Including header <class_loader/class_loader.h> is deprecated,
^~~~~~~
In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:75:0:
/opt/ros/melodic/include/class_loader/class_loader.h:36:2: warning: #warning Including header <class_loader/class_loader.h> is deprecated, include <class_loader/class_loader.hpp> instead. [-Wcpp]
#warning Including header <class_loader/class_loader.h> is deprecated,
^~~~~~~
In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:75:0:
/opt/ros/melodic/include/class_loader/class_loader.h:36:2: warning: #warning Including header <class_loader/class_loader.h> is deprecated, include <class_loader/class_loader.hpp> instead. [-Wcpp]
#warning Including header <class_loader/class_loader.h> is deprecated,
^~~~~~~
/home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp: In member function ‘virtual bool ur_kinematics::URKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:174:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
^
In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0,
from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
[[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
^~~~~~~~~
/home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp: In member function ‘virtual bool ur_kinematics::URKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:174:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
^
In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0,
from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
[[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
^~~~~~~~~
/home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp: In member function ‘virtual bool ur_kinematics::URKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:174:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
^
In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0,
from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here
[[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
^~~~~~~~~
cd /home/ksjz/ros_ws/build/ur_kinematics; catkin build --get-env ur_kinematics | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished <<< ur_kinematics [ 14.9 seconds ]
[build] Summary: 16 of 38 packages succeeded.
[build] Ignored: 2 packages were skipped or are blacklisted.
[build] Warnings: 5 packages succeeded with warnings.
[build] Abandoned: 21 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 48.7 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

error loading tag:
file does not exist [/home/user/ros_ws/src/robotiq/robotiq_control/config/gripper_85_controller.yaml]
XML is
The traceback for the exception was written to the log file

Hi, when I do the same to git this repo(not the docker one), I can run the visualization in rviz, but got error in robot grasp(rosrun ur_control sim_controller_examples.py -m ) .
It occurs as :
Traceback (most recent call last):
File "/home/twilight/catkin_ws_learn/src/ur3/ur_control/scripts/sim_controller_examples.py", line 4, in
from ur_control.impedance_control import AdmittanceModel
ImportError: No module named impedance_control.

It happens in rosrun ur_control joint_position_keyboard.py:
Traceback (most recent call last):
File "/home/twilight/catkin_ws_learn/src/ur3/ur_control/scripts/joint_position_keyboard.py", line 9, in
from ur_control.arm import Arm
File "/home/twilight/catkin_ws_learn/src/ur3/ur_control/src/ur_control/arm.py", line 19, in
from ur_ikfast import ur_kinematics as ur_ikfast
ImportError: No module named ur_ikfast

I am a fresher in ros, hoping for your reply.
Thanks~

Hello, I am running the following code: （18.04 + melodic）
roslaunch ur3_gazebo ur_gripper_hande_cubes.launch ur_robot:=ur3e grasp_plugin:=1
roslaunch ur_hande_moveit_config start_moveit.launch

something is wrong：
No active joints or end effectors found for group 'gripper'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1637309659.534774206, 329.652000000]: Constructing new MoveGroup connection for group 'gripper' in namespace ''
[ INFO] [1637309659.622648508, 329.739000000]: Ready to take commands for planning group gripper.

Have you encountered it and how to solve it, thank you！

inverse_kinematics cannot get a solution.

Hello
When I did the following, I got an error
rosdep install --from-paths src --ignore-src -r -y

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: ur3_gazebo: Cannot locate rosdep definition for [robotiq_gazebo] ur3_description: Cannot locate rosdep definition for [robotiq_description] Continuing to install resolvable dependencies... #All required rosdeps installed successfully

When I put the robotiq-packages and openrave_catkin-package according to the error, I got the following error in catkin_make
CMake Error at /home/osumi/catkin_ws/devel/share/openrave_catkin/cmake/openrave_catkin-extras.cmake:1 (find_package): By not providing "FindOpenRAVE.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "OpenRAVE", but CMake did not find one.
` Could not find a package configuration file provided by "OpenRAVE" with any
of the following names:

OpenRAVEConfig.cmake
openrave-config.cmake

Add the installation prefix of "OpenRAVE" to CMAKE_PREFIX_PATH or set
"OpenRAVE_DIR" to a directory containing one of the above files. If
"OpenRAVE" provides a separate development package or SDK, be sure it has
been installed.
`

In addition, is it possible to use this package with ROS noetic?

I'm Japanese, so please forgive me for my poor words

Hello, cambel:
I'm Hexu, and want to do some research about arm manipulation which needs compliant control. But I don't know how to realize compliant control on the gazebo. Could you please help me to contact with Cristian Camilo Beltran-Hernandez for asking the code or the part about compliant control in gazebo? Because I can't contact him with this email address "[email protected]". The article is "Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach".

Thank you very much

Hexu

When I run roslaunch ur_hande_moveit_config start_moveit.launch, a warning appears: "The complete state of the robot is not yet known. Missing hande_left_finger_joint." It keeps popping up. How can I resolve this?

Hi, when input the command roslaunch ur3_gazebo ur3_cubes.launch and rosrun ur3_gazebo send_gripper.py --value 0.5, it worked, no problem, but input rosrun ur3_gazebo send_joints.py, have nothing, no any message output in the terminal, only the cursor flashing

A similar issue below:
source from https://github.com/ros-industrial/universal_robot, input command:
roslaunch ur_gazebo ur5.launch limited:=true
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true limited:=true
roslaunch ur5_moveit_config moveit_rviz.launch config:=true
and then
python test_move.py (from https://github.com/ros-industrial/ur_modern_driver)
output in the terminal:

someone said that because test_move.py is executed for real UR, but I think for gazebo .py file is ok, but import *** is the key.

So, what should I do for it? Thank you~

Hello！When I rosrun ur_control sim_controller_examples.py -m,there is a mistake.
Traceback (most recent call last):
File "/home/spy/ros_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 27, in
from ur_control import transformations, traj_utils, conversions
File "/home/spy/ros_ws/src/ur3/ur_control/src/ur_control/transformations.py", line 175, in
from pyquaternion import Quaternion
ImportError: No module named pyquaternion
How can I save it?
Looking forward your request.

After running this script:

rosrun ur_control sim_controller_examples.py -m

I've got this error:

ft_sensor: True, ee_link: None, 
 robot_urdf: ur3e
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_base_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_knuckle_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_knuckle_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_knuckle_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_knuckle_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_knuckle_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_knuckle_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_finger_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_finger_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_finger_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_finger_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_finger_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_finger_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_inner_knuckle_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_inner_knuckle_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_inner_knuckle_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_inner_knuckle_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_inner_knuckle_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_inner_knuckle_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_finger_tip_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_finger_tip_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_left_finger_tip_link']/inertial/inertia
Unknown attribute "iyx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_finger_tip_link']/inertial/inertia
Unknown attribute "izx" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_finger_tip_link']/inertial/inertia
Unknown attribute "izy" in /robot[@name='ur_robot_gazebo']/link[@name='robotiq_85_right_finger_tip_link']/inertial/inertia
Unknown tag "hardwareInterface" in /robot[@name='ur_robot_gazebo']/transmission[@name='robotiq_85_left_knuckle_trans']/actuator[@name='robotiq_85_left_knuckle_motor']
connecting to: /scaled_pos_joint_traj_controller/command
[INFO] [1648644789.700306, 3600.821000]: JointTrajectoryController initialized. ns: /
publish filtered wrench: /wrench/filtered
[ERROR] [1648644792.708880, 3603.709000]: Timed out waiting for /wrench/ topic
Traceback (most recent call last):
  File "sim_controller_examples.py", line 291, in <module>
    main()
  File "sim_controller_examples.py", line 263, in main
    gripper=args.gripper,  # Enable gripper
  File "/root/ros_ws/src/ros_ur3/ur_control/src/ur_control/arm.py", line 108, in __init__
    self._init_ft_sensor()
  File "/root/ros_ws/src/ros_ur3/ur_control/src/ur_control/arm.py", line 170, in _init_ft_sensor
    self.set_wrench_offset(override=False)
  File "/root/ros_ws/src/ros_ur3/ur_control/src/ur_control/arm.py", line 243, in set_wrench_offset
    self._update_wrench_offset()
  File "/root/ros_ws/src/ros_ur3/ur_control/src/ur_control/arm.py", line 174, in _update_wrench_offset
    self.wrench_offset = self.get_filtered_ft().tolist()
  File "/root/ros_ws/src/ros_ur3/ur_control/src/ur_control/arm.py", line 231, in get_filtered_ft
    for i in range(6)
  File "/root/ros_ws/src/ros_ur3/ur_control/src/ur_control/arm.py", line 231, in <listcomp>
    for i in range(6)
TypeError: 'NoneType' object is not subscriptable

For me looks like similar problem to the previous issue.
rosrun ur_control joint_position_keyboard.py
also works fine

Hi, my friend. I try to use your code on Ubuntu18.04 which the ros version is melodic, but your version is kinect in Ubuntu16.04. When I run "catkin_make", I got these errors.It looks like C++ problem. So is there anyone can solve it?
Thanks!

/home/alan/ros_ws/src/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp: In destructor ‘virtual gazebo::MimicJointPlugin::~MimicJointPlugin()’:
/home/alan/ros_ws/src/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:50:3: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
event::Events::DisconnectWorldUpdateBegin(this->updateConnection);
^
/home/alan/ros_ws/src/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp: In member function ‘void gazebo::MimicJointPlugin::UpdateChild()’:
/home/alan/ros_ws/src/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:170:39: error: ‘class gazebo::physics::World’ has no member named ‘GetPhysicsEngine’
static ros::Duration period(world_->GetPhysicsEngine()->GetMaxStepSize());

[ERROR] [1611827078.770689263]: Could not load controller 'gripper_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/gripper_controller')?

Hi~ I'm pretty fresh in ROS. I download this repo and it did work. My question is that whether this project use Moveit? Because I didn't find moveit group in code. If not use, how can this make robot arm move?
Hope for rely, thanks.

Hi,

I am trying to run your repo using Ros noetic on Ubuntu 20.04. Gazebo works fine. When I start controlling the arm with the command "rosrun ur_control sim_controller_examples.py -m", I received the following error:

>> rosrun ur_control sim_controller_examples.py -m
Import ur_ikfast not available, IKFAST would not be supported without it
Traceback (most recent call last):
File "workspace/catkin_ws/src/ur3/ur_control/scripts/sim_controller_examples.py", line 28, in
from ur_control.arm import Arm
File "/workspace/catkin_ws/src/ur3/ur_control/src/ur_control/arm.py", line 46, in
from ur_pykdl import ur_kinematics
File "/workspace/catkin_ws/devel/lib/python3/dist-packages/ur_pykdl/init.py", line 34, in
exec(_fh.read())
File "", line 29, in
File "/workspace/catkin_ws/src/ur3/ur_pykdl/src/ur_pykdl/ur_pykdl.py", line 31, in
import PyKDL
ModuleNotFoundError: No module named 'PyKDL'

I did change the kdl parts in the package.xml files under /src/ur3/ur_pykdl/ :
<build_depend>liborocos-kdl</build_depend>
<build_depend>liborocos-kdl-dev</build_depend>

however, no success...Do you have any idea how to solve this problem?
thanks in advance
eren

Hello, I have a problem to install dependecies :

qld@Ubuntu-20:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robotiq_control: No definition of [python-pymodbus] for OS version [focal]

I installed python3-pymodbus but still not working.
Anyone can help me ? Thank you