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A ros package for myCobot.

License: BSD 3-Clause "New" or "Revised" License

CMake 7.52% Python 90.97% Dockerfile 0.10% C++ 1.41%

ros rviz mycobot moveit pythonscript mycobot-pro melodic opencv

mycobot_ros's Introduction

mycobot_ros

中文文档 | English Documentation

Control or simulate myCobot series robots in ROS.

Notes:

Make sure that Atom is flashed into the top Atom and Transponder or minirobot is flashed into the base Basic .The tool download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
Supported ROS versions:
- Ubuntu 16.04 / ROS Kinetic
- Ubuntu 18.04 / ROS Melodic
- Ubuntu 20.04 / ROS Noetic

Installation

Option 1: Docker

There are two ways to run this project. The first is by running the project in a container, and this requires installing docker and installing docker-compose. The benefit of running in the container is that you can run the project in any version of linux, as long as your kernel is new enough.

Once docker is installed, run the following command, and the project should show up.

Without NVIDIA GPU:

ROS Noetic:

docker-compose build ros-noetic && xhost +local:root && docker-compose up ros-noetic

ROS Melodic:

docker-compose build ros && xhost +local:root && docker-compose up ros

With NVIDIA GPU

ROS Noetic:

docker-compose build nvidia-ros-noetic && xhost +local:root && docker-compose up nvidia-ros-noetic

ROS Melodic:

docker-compose build nvidia-ros && xhost +local:root && docker-compose up nvidia-ros

This command does three things:

docker-compose build ros

This builds the project in a container. That means nothing is installed on your host machine! The first time this runs, this command will take a long while. After running it once, caching will allow this command to run quickly.
xhost +local:root

This command gives X the ability to display GUI's from within the docker container
docker-compose up ros

This runs the image specified in the docker-compose.yml, which by default runs the command roslaunch mycobot_320 mycobot_320_slider.launch within the container.

To run other tutorials, set the LAUNCH_TARGET environment variable. For example, to the run the MoveIt tutorial run:

export LAUNCH_TARGET=mycobot_320_moveit mycobot320_moveit.launch
docker-compose up ros

Option 2: Local

2.1 Pre-Requriements

For using this package, the Python api library should be installed first.

pip install pymycobot --user

2.2 Package Download and Install

Install ros package in your src folder of your Catkin workspace.

$ cd ~/catkin_ws/src
$ git clone --depth 1 https://github.com/elephantrobotics/mycobot_ros.git
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
$ sudo echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

2.3 Test Python API

cd ~/catkin_ws/src/mycobot_ros
python test.py

Where to get help

There is documentation in the ElephantRobotics Docs. Please check the ROS chapter.

Important Links & Docs

User Guide

Contributing

Contributions are always welcome!

See CONTRIBUTING.md for ways to get started.

Please adhere to this project's code of conduct.

Screenshots

URDF Model Graph

mycobot 280 m5

mycobot 280 m5 gripper

mycobot 280 m5 pump

mycobot 280 m5 camera flange

mycobot 280 m5 camera flange & pump

mycobot 280 pi

mycobot 280 pi pump

mycobot 280 pi camera flange

mycobot 280 pi camera flange & pump

mycobot 280 JetsonNano

mycobot 320 m5 2022 gripper

Contributors

Thanks goes to these people (Emoji Key):

_{Alex Thiele} 💻	_{Shinya Nishimoto} 💻 📖	_{Takashi Ogura} 💻	_{Ryuichiro Toyoshi} 📖	_{Ryo Kabutan} 🎨	_{Takafumi Watanabe} 💻 📖	_{Yoshiaki Watanabe} 💻
_{Masato Kobayashi} 💻	_{Daisuke Sato} 📖 💻	_{Eric Cousineau} 💻	_thandal 💻	_nakano16180 📖	_{Akihiro Komori} 💻	_{Jason Skowronski} 💻
_2929ss 💻	_{TAKASU Masakazu} 📣	_{SAITO, Tetsuya} 📣

This project follows the all-contributors specification. Contributions of any kind are welcome!

License

mycobot_ros's People

Contributors

Stargazers

Watchers

mycobot_ros's Issues

Can i request for an update of the Mycobot Jetson Nano URDF directory to include the xacro and stl files?

Could I request for the STL files for each joint of the mycobot Jetson Nano version to be included in the package and the urdf.xacro to be updated to include collisions? Much appreciated.

Heres some context, my environment is Ubuntu 20.04 and ROS noetic. I am trying to utilise the mycobot Jetson Nano for dynamic obstacle avoidance. I am utilising the mycobot Jetson Nano version with moveit. however I noticed that under the mycobot_description, there is no mesh file or .stl files for collision. While using the moveit setup assistant and loading up the mycobot_urdf.urdf to create a new moveit config i am unable to add collisions as well.

Executing the demo.launch prompts me the following error below specifying to: Fix your URDF file by explicitly specifying collision geometry"

I tested gazebo.launch and this error below is prompted. Additionally, the robot is not spawned in the gazebo environment.

Demo.launch
[ WARN] [1675239446.607871979]: Link joint6 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.607646616]: Link joint1 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.607757578]: Link joint2 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.607778201]: Link joint3 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.607827984]: Link joint4 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.607860146]: Link joint5 has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.607881020]: Link joint6_flange has visual geometry but no collision geometry. Collision geometry will be left empty.

Fix your URDF file by explicitly specifying collision geometry. [ WARN] [1675239446.608061800]: No geometry is associated to any robot links

Gazebo.launch

[INFO] [1675236096.385363, 0.000000]: Calling service /gazebo/spawn_urdf_model Error [parser.cc:488] parse as old deprecated model file failed. Error Code 4 Msg: Required attribute[filename] in element[plugin] is not specified in SDF. Error Code 8 Msg: Error reading element <plugin> Error Code 8 Msg: Error reading element <model> Error Code 8 Msg: Error reading element <sdf>

Moveit 320 M5 gripper opening/closing

I want to pick and place blocks with gripper
Do you have gripper opening/closing code?
I tried but it just works in "roslaunch", not in "rosrun".

does it support moveit ? which launch file?

https://github.com/elephantrobotics/mycobot_moveit

i came across this repo.? which one is more appropriate?

Connecting to real robot

Hello. This might sound like a naive question but I'm not able to figure this out from the documentation.

I have a myCobot-pi model and it has ROS-Kinetic pre-installed on it.

When I run:
rosrun mycobot_ros slider_control.py

I get the error: unable to connect to "/dev/ttyUSB0"

My question is if I'm running ROS on the robot's RPi, do I need to specify the port?

Secondly, if I'm running ROS core on my laptop instead, don't I just need to specify the IP address of the ROS core machine for the robot's nodes on the RPi? Why do I need to connect with a USB cable?

Please let me know if I'm missing something or point me to some good documentation.

ImportError: No module named mycobot_description.srv

Traceback (most recent call last):
File "/home/wwd/catkin_mycobot_ros/src/mycobot_ros/mycobot_280/scripts/listen_real.py", line 9, in
from mycobot_description.srv import GetAngles
ImportError: No module named mycobot_description.srv

End-effectors urdf/srdf?

Hello, I just started using myCobot with ROS and I want to run an application with the suction pump.
I am new to ROS, so I am not sure if the code is already available here. I wanted to ask if there is a file to define the suction pump model and how to attach it to the robot arm?
Thank you

版本不一致可以吗？

我是ubuntu20.04，ros2，和推荐的版本不一样，可以正常使用吗？

Error when building docker container

I have the following error when building the docker container.

Building ros
Sending build context to Docker daemon  190.1MB
Step 1/16 : ARG BASE_IMAGE
Step 2/16 : FROM ${BASE_IMAGE}
18.04: Pulling from library/ubuntu
e4ca327ec0e7: Pull complete 
Digest: sha256:9bc830af2bef73276515a29aa896eedfa7bdf4bdbc5c1063b4c457a4bbb8cd79
Status: Downloaded newer image for ubuntu:18.04
 ---> 54919e10a95d
Step 3/16 : COPY --from=osrf/ros:melodic-desktop-full / /
melodic-desktop-full: Pulling from osrf/ros
4bbfd2c87b75: Pull complete 
d2e110be24e1: Pull complete 
889a7173dcfe: Pull complete 
1270d8e5a641: Pull complete 
6b8ca49cb51a: Pull complete 
c95c6800a35c: Pull complete 
47408d20bf58: Pull complete 
29f56ec2afd1: Pull complete 
a07d96849f4e: Pull complete 
86b45c5e6466: Pull complete 
d761800cb971: Pull complete 
8f3409eabec0: Pull complete 
aebe9f16eba2: Pull complete 
5c80026661cc: Pull complete 
d629bf3d1a44: Pull complete 
Digest: sha256:f9268872571969d1fa20a64d1a9225dd592451862b21c34d66e7b6be3541b8dd
Status: Downloaded newer image for osrf/ros:melodic-desktop-full
 ---> 457eabb12615
Step 4/16 : ENV BASH_ENV="/root/launch.sh"
 ---> Running in a2fba33a5c2a
Removing intermediate container a2fba33a5c2a
 ---> 400c387c6f8f
Step 5/16 : SHELL ["/bin/bash", "-c"]
 ---> Running in d478ec733dfb
Removing intermediate container d478ec733dfb
 ---> 1b56a0c4ae8d
Step 6/16 : ENTRYPOINT ["/bin/bash", "-c"]
 ---> Running in a599a61cbb3d
Removing intermediate container a599a61cbb3d
 ---> d4a0351a3d17
Step 7/16 : ARG ROS_DISTRO
 ---> Running in 57bc2b5de5cb
Removing intermediate container 57bc2b5de5cb
 ---> 6e04c0dc7082
Step 8/16 : RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $BASH_ENV
 ---> Running in 1adec7b2084b
Removing intermediate container 1adec7b2084b
 ---> 5abb05b78021
Step 9/16 : WORKDIR /catkin_ws/src
 ---> Running in 67decfcc552b
Removing intermediate container 67decfcc552b
 ---> 4f4de8e20a54
Step 10/16 : COPY . mycobot_ros
 ---> 1d56f290fbfb
Step 11/16 : RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     apt-get update &&     apt-get install -y         python-rosinstall         python-rosinstall-generator         python-wstool         build-essential         python-pip &&     rosdep install -r -y -i --from-paths . &&     rm -rf /var/lib/apt/lists/*
 ---> Running in ea7ef011be0e
Warning: apt-key output should not be parsed (stdout is not a terminal)
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Reading package lists...
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Building dependency tree...
Reading state information...
build-essential is already the newest version (12.4ubuntu1).
python-rosinstall is already the newest version (0.7.8-1).
python-wstool is already the newest version (0.1.17-1).
python-wstool set to manually installed.
The following additional packages will be installed:
  dbus libpython-all-dev python-all python-all-dev python-crypto python-dbus
  python-gi python-keyring python-keyrings.alt python-pip-whl
  python-secretstorage python-wheel python-xdg
Suggested packages:
  default-dbus-session-bus | dbus-session-bus python-crypto-doc
  python-dbus-dbg python-dbus-doc python-gi-cairo gnome-keyring
  libkf5wallet-bin gir1.2-gnomekeyring-1.0 python-fs python-gdata
  python-keyczar python-secretstorage-doc
The following NEW packages will be installed:
  dbus libpython-all-dev python-all python-all-dev python-crypto python-dbus
  python-gi python-keyring python-keyrings.alt python-pip python-pip-whl
  python-rosinstall-generator python-secretstorage python-wheel python-xdg
0 upgraded, 15 newly installed, 0 to remove and 107 not upgraded.
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Setting up python-all-dev (2.7.15~rc1-1) ...
Reading package lists...
Building dependency tree...
Reading state information...
The following additional packages will be installed:
  libfcl-dev libfcl0.5 liboctomap-dev liboctomap1.8
  ros-melodic-eigen-stl-containers ros-melodic-geometric-shapes
  ros-melodic-moveit-core ros-melodic-moveit-msgs
  ros-melodic-moveit-ros-occupancy-map-monitor ros-melodic-moveit-ros-planning
  ros-melodic-object-recognition-msgs ros-melodic-octomap
  ros-melodic-octomap-msgs ros-melodic-pybind11-catkin
  ros-melodic-random-numbers ros-melodic-srdfdom
The following NEW packages will be installed:
  libfcl-dev libfcl0.5 liboctomap-dev liboctomap1.8
  ros-melodic-eigen-stl-containers ros-melodic-geometric-shapes
  ros-melodic-moveit-core ros-melodic-moveit-fake-controller-manager
  ros-melodic-moveit-msgs ros-melodic-moveit-ros-occupancy-map-monitor
  ros-melodic-moveit-ros-planning ros-melodic-object-recognition-msgs
  ros-melodic-octomap ros-melodic-octomap-msgs ros-melodic-pybind11-catkin
  ros-melodic-random-numbers ros-melodic-srdfdom
0 upgraded, 17 newly installed, 0 to remove and 107 not upgraded.
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Processing triggers for libc-bin (2.27-3ubuntu1.4) ...
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The following additional packages will be installed:
  liburdfdom-tools python-bs4 python-chardet python-html5lib python-lxml
  python-webencodings
Suggested packages:
  python-genshi python-lxml-dbg python-lxml-doc
The following NEW packages will be installed:
  liburdfdom-tools python-bs4 python-chardet python-html5lib python-lxml
  python-webencodings ros-melodic-moveit-kinematics
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Get:6 http://archive.ubuntu.com/ubuntu bionic-updates/main amd64 python-lxml amd64 4.2.1-1ubuntu0.4 [897 kB]
Get:7 http://archive.ubuntu.com/ubuntu bionic-updates/universe amd64 liburdfdom-tools amd64 1.0.0-2ubuntu0.1 [12.5 kB]
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Reading package lists...
Building dependency tree...
Reading state information...
The following additional packages will be installed:
  libglew-dev libglew2.0 libomp-dev libomp5 ros-melodic-eigenpy
  ros-melodic-moveit-ros-manipulation ros-melodic-moveit-ros-move-group
  ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-planning-interface
  ros-melodic-moveit-ros-robot-interaction
  ros-melodic-moveit-ros-visualization ros-melodic-moveit-ros-warehouse
  ros-melodic-warehouse-ros
Suggested packages:
  glew-utils libomp-doc
The following NEW packages will be installed:
  libglew-dev libglew2.0 libomp-dev libomp5 ros-melodic-eigenpy
  ros-melodic-moveit-ros-manipulation ros-melodic-moveit-ros-move-group
  ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-planning-interface
  ros-melodic-moveit-ros-robot-interaction
  ros-melodic-moveit-ros-visualization ros-melodic-moveit-ros-warehouse
  ros-melodic-moveit-setup-assistant ros-melodic-warehouse-ros
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Processing triggers for libc-bin (2.27-3ubuntu1.4) ...
Reading package lists...
Building dependency tree...
Reading state information...
The following NEW packages will be installed:
  ros-melodic-joint-state-publisher-gui
0 upgraded, 1 newly installed, 0 to remove and 107 not upgraded.
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The following additional packages will be installed:
  blt tk8.6-blt2.5
Suggested packages:
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  blt python-tk tk8.6-blt2.5
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The following additional packages will be installed:
  evemu-tools evtest inputattach joystick libevemu3 libsdl1.2debian
The following NEW packages will be installed:
  evemu-tools evtest inputattach joystick libevemu3 libsdl1.2debian
  ros-melodic-joy
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Get:4 http://archive.ubuntu.com/ubuntu bionic-updates/main amd64 libsdl1.2debian amd64 1.2.15+dfsg2-0.1ubuntu0.1 [175 kB]
Get:5 http://archive.ubuntu.com/ubuntu bionic/universe amd64 joystick amd64 1:1.6.0-2 [45.9 kB]
Get:6 http://archive.ubuntu.com/ubuntu bionic/universe amd64 evtest amd64 1:1.33-1build1 [15.6 kB]
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Processing triggers for libc-bin (2.27-3ubuntu1.4) ...
Reading package lists...
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ros-melodic-moveit-msgs is already the newest version (0.10.1-1bionic.20210505.043840).
ros-melodic-moveit-msgs set to manually installed.
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Reading package lists...
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The following additional packages will be installed:
  ros-melodic-ompl
The following NEW packages will be installed:
  ros-melodic-moveit-planners-ompl ros-melodic-ompl
0 upgraded, 2 newly installed, 0 to remove and 107 not upgraded.
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Reading package lists...
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Reading state information...
ros-melodic-moveit-ros-move-group is already the newest version (1.0.8-1bionic.20210719.233440).
ros-melodic-moveit-ros-move-group set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 107 not upgraded.
Reading package lists...
Building dependency tree...
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ros-melodic-moveit-ros-visualization is already the newest version (1.0.8-1bionic.20210720.000350).
ros-melodic-moveit-ros-visualization set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 107 not upgraded.
executing command [apt-get install -y ros-melodic-moveit-fake-controller-manager]
executing command [apt-get install -y ros-melodic-moveit-kinematics]
executing command [apt-get install -y ros-melodic-moveit-setup-assistant]
executing command [apt-get install -y ros-melodic-joint-state-publisher-gui]
executing command [apt-get install -y python-tk]
executing command [apt-get install -y ros-melodic-joy]
executing command [apt-get install -y ros-melodic-moveit-msgs]
executing command [apt-get install -y ros-melodic-moveit-planners-ompl]
executing command [apt-get install -y ros-melodic-moveit-ros-move-group]
executing command [apt-get install -y ros-melodic-moveit-ros-visualization]
#All required rosdeps installed successfully
Removing intermediate container ea7ef011be0e
 ---> ebc79e332092
Step 12/16 : ARG PYMYCOBOT_VERSION
 ---> Running in cea6ee5459b7
Removing intermediate container cea6ee5459b7
 ---> d29a06c5bb6b
Step 13/16 : RUN pip install "pymycobot $PYMYCOBOT_VERSION" --user
 ---> Running in d38a7a7eb23a
Collecting pymycobot>=2<3
  Downloading https://files.pythonhosted.org/packages/f6/2e/766270044b6ec965e4fc37e908578497b402452cd94f755e87c8686e1263/pymycobot-2.6.0b1.tar.gz
    Complete output from command python setup.py egg_info:
    Traceback (most recent call last):
      File "<string>", line 1, in <module>
      File "/tmp/pip-build-6DbU8C/pymycobot/setup.py", line 12, in <module>
        import pymycobot
      File "pymycobot/__init__.py", line 9, in <module>
        from pymycobot import utils
      File "pymycobot/utils.py", line 7, in <module>
        except ModuleNotFoundError:
    NameError: name 'ModuleNotFoundError' is not defined
    
    ----------------------------------------
Command "python setup.py egg_info" failed with error code 1 in /tmp/pip-build-6DbU8C/pymycobot/
The command '/bin/bash -c pip install "pymycobot $PYMYCOBOT_VERSION" --user' returned a non-zero code: 1
ERROR: Service 'ros' failed to build : Build failed

catkin_make error due to missing files

catkin_make command shows an error on current version (547aa70).
Is there any plans to add src/basic_shape.cpp?

$ catkin_make
Base path: /home/ubuntu/catkin_ws
Source space: /home/ubuntu/catkin_ws/src
Build space: /home/ubuntu/catkin_ws/build
Devel space: /home/ubuntu/catkin_ws/devel
Install space: /home/ubuntu/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/ubuntu/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/ubuntu/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/ubuntu/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - mycobot_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'mycobot_ros'
-- ==> add_subdirectory(mycobot_ros)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- mycobot_ros: 1 messages, 5 services
-- Found OpenCV: /usr (found version "3.2.0") 
-- Configuring done
CMake Error at mycobot_ros/CMakeLists.txt:64 (add_executable):
  Cannot find source file:

    src/basic_shape

  Tried extensions .c .C .c++ .cc .cpp .cxx .m .M .mm .h .hh .h++ .hm .hpp
  .hxx .in .txx


CMake Error: CMake can not determine linker language for target: basic_shape
CMake Error: Cannot determine link language for target "basic_shape".
-- Generating done
-- Build files have been written to: /home/ubuntu/catkin_ws/build
Makefile:320: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

mycobot 280 jetson nano MyCobotSocket

Hi! I try to launch official test script for mycobot 280 jetson nano, but got the following error during the Socket initialization:

ms=MyCobotSocket('192.168.125.226',9000) Traceback (most recent call last): File "<stdin>", line 1, in <module> File "/home/elephant/.local/lib/python3.6/site-packages/pymycobot/mycobotsocket.py", line 61, in __init__ self.sock = self.connect_socket() File "/home/elephant/.local/lib/python3.6/site-packages/pymycobot/mycobotsocket.py", line 70, in connect_socket sock.connect((self.SERVER_IP, self.SERVER_PORT)) OSError: [Errno 101] Network is unreachable
the IP and baud were hardcoded in the script (I didn't change anything)

Rviz robot model does not show actual real robot pose

is there any specific initial procedure (e.g. setting init pose? reset encoder) before launching the node?

Gazebo does not work: mycoobot_280_moveit demo_gazebo.launch

Hi,
when I run: roslaunch mycobot_280_movit demo_gazebo.launch rviz seems to properly launch, gazebo starts but there is no robot in gazebo.

Here is a screen shot of what I see and the full output in the terminal. My setup is:

ubuntu 20.04 running in VMWare Workstation 16 Player
ROS Noetic
I don't have a robot connected

/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver: kdl_kinematics_pl...
/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_attempts: 3
/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_search_resolution: 0.005
/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_timeout: 0.005
/use_sim_time: True

NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_ubuntu_16721_3607413135093980549 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [16729]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 709dd776-6dcf-11ec-8eec-e37c200a2edc
process[rosout-1]: started with pid [16739]
started core service [/rosout]
process[gazebo-2]: started with pid [16746]
process[gazebo_gui-3]: started with pid [16749]
process[spawn_gazebo_model-4]: started with pid [16755]
process[controller_spawner-5]: started with pid [16757]
process[joint_state_publisher-6]: started with pid [16758]
process[robot_state_publisher-7]: started with pid [16759]
process[move_group-8]: started with pid [16760]
process[rviz_ubuntu_16721_3607413135093980549-9]: started with pid [16761]
[ WARN] [1641349827.030924094]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1641349827.033408878]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1641349827.058673316]: Loading robot model 'firefighter'...
usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns]
[--timeout T] [--no-timeout]
[--shutdown-timeout SHUTDOWN_TIMEOUT]
controller [controller ...]
spawner: error: the following arguments are required: controller
[ INFO] [1641349827.504178327]: rviz version 1.14.11
[ INFO] [1641349827.504396633]: compiled against Qt version 5.12.8
[ INFO] [1641349827.504420363]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1641349827.525487372]: Forcing OpenGl version 0.
[INFO] [1641349827.619513, 0.000000]: Loading model XML from ros parameter robot_description
[ WARN] [1641349827.621072689]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_group/kinematics_solver_attempts' from your configuration.
[INFO] [1641349827.630214, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[controller_spawner-5] process has died [pid 16757, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log].
log file: /home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5*.log
[ INFO] [1641349827.915521987]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349827.922577590]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349828.066988916]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1641349828.069499135]: Listening to 'joint_states' for joint states
[ INFO] [1641349828.073427114]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1641349828.073531021]: Starting planning scene monitor
[ INFO] [1641349828.075194278]: Listening to '/planning_scene'
[ INFO] [1641349828.075270079]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1641349828.077371405]: Listening to '/collision_object'
[ INFO] [1641349828.079895945]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1641349828.170924351]: Stereo is NOT SUPPORTED
[ INFO] [1641349828.171161326]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1641349828.171273163]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1641349828.234091682]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349828.238270901]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349828.731545920]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1641349828.781624111, 0.009000000]: Physics dynamic reconfigure ready.
[INFO] [1641349828.847892, 0.057000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1641349828.916240, 0.087000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/robot/.ros/log/709dd776-6dcf-11ec-8eec-e37c200a2edc/spawn_gazebo_model-4*.log
[ INFO] [1641349830.136846206, 1.282000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'joint1 '
[ INFO] [1641349830.136963171, 1.282000000]: Loading planning pipeline ''
[ERROR] [1641349830.176414102, 1.309000000]: Could not find the planner configuration 'None' on the param server
[ INFO] [1641349830.240815089, 1.386000000]: Using planning interface 'OMPL'
[ INFO] [1641349830.246175492, 1.392000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1641349830.247408567, 1.393000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1641349830.248381045, 1.394000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349830.249325531, 1.395000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349830.250618166, 1.396000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1641349830.251783892, 1.397000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1641349830.251951548, 1.397000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1641349830.252084823, 1.397000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1641349830.252253775, 1.397000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1641349830.252330257, 1.397000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1641349830.252355201, 1.397000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1641349830.270842361, 1.415000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1641349830.293482806, 1.430000000]: Trajectory execution is managing controllers
[ INFO] [1641349830.293608443, 1.430000000]: MoveGroup debug mode is ON
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] [1641349830.390214398, 1.520000000]:

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

[ INFO] [1641349830.391504732, 1.522000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1641349830.391895943, 1.522000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1641349832.206084179, 3.308000000]: Loading robot model 'firefighter'...
[ WARN] [1641349832.743275778, 3.837000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_ubuntu_16721_3607413135093980549/arm_group/kinematics_solver_attempts' from your configuration.
[ INFO] [1641349833.313376442, 4.401000000]: Starting planning scene monitor
[ INFO] [1641349833.318581304, 4.407000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1641349834.088218209, 5.181000000]: Constructing new MoveGroup connection for group 'arm_group' in namespace ''
[ INFO] [1641349835.246391752, 6.314000000]: Ready to take commands for planning group arm_group.
^C[rviz_ubuntu_16721_3607413135093980549-9] killing on exit
[move_group-8] killing on exit
[robot_state_publisher-7] killing on exit
[joint_state_publisher-6] killing on exit
[gazebo-2] killing on exit
[gazebo_gui-3] killing on exit
^C[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
robot@ubuntu:$
robot@ubuntu:$ roslaunch mycobot_280_moveit demo_gazebo.launch
... logging to /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/roslaunch-ubuntu-17366.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://ubuntu:38505/

SUMMARY

PARAMETERS

/controller_list: []
/gazebo/enable_ros_network: True
/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/generic_hw_control_loop/loop_hz: 300
/hardware_interface/joints: ['vitual_joint', ...
/hardware_interface/sim_control_mode: 1
/joint_state_controller/publish_rate: 50
/joint_state_controller/type: joint_state_contr...
/joint_state_publisher/source_list: ['/joint_states']
/joint_state_publisher/use_gui: False
/move_group/allow_trajectory_execution: True
/move_group/arm_group/default_planner_config: None
/move_group/arm_group/longest_valid_segment_fraction: 0.005
/move_group/arm_group/planner_configs: ['SBL', 'EST', 'L...
/move_group/arm_group/projection_evaluator: joints(joint2_to_...
/move_group/capabilities:
/move_group/controller_list: []
/move_group/disable_capabilities:
/move_group/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/move_group/generic_hw_control_loop/loop_hz: 300
/move_group/hardware_interface/joints: ['vitual_joint', ...
/move_group/hardware_interface/sim_control_mode: 1
/move_group/jiggle_fraction: 0.05
/move_group/joint_state_controller/publish_rate: 50
/move_group/joint_state_controller/type: joint_state_contr...
/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/moveit_sim_hw_interface/joint_model_group: arm_group
/move_group/moveit_sim_hw_interface/joint_model_group_pose: init_pose
/move_group/octomap_resolution: 0.025
/move_group/planner_configs/BFMT/balanced: 0
/move_group/planner_configs/BFMT/cache_cc: 1
/move_group/planner_configs/BFMT/extended_fmt: 1
/move_group/planner_configs/BFMT/heuristics: 1
/move_group/planner_configs/BFMT/nearest_k: 1
/move_group/planner_configs/BFMT/num_samples: 1000
/move_group/planner_configs/BFMT/optimality: 1
/move_group/planner_configs/BFMT/radius_multiplier: 1.0
/move_group/planner_configs/BFMT/type: geometric::BFMT
/move_group/planner_configs/BKPIECE/border_fraction: 0.9
/move_group/planner_configs/BKPIECE/failed_expansion_score_factor: 0.5
/move_group/planner_configs/BKPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/BKPIECE/range: 0.0
/move_group/planner_configs/BKPIECE/type: geometric::BKPIECE
/move_group/planner_configs/BiEST/range: 0.0
/move_group/planner_configs/BiEST/type: geometric::BiEST
/move_group/planner_configs/BiTRRT/cost_threshold: 1e300
/move_group/planner_configs/BiTRRT/frountier_node_ratio: 0.1
/move_group/planner_configs/BiTRRT/frountier_threshold: 0.0
/move_group/planner_configs/BiTRRT/init_temperature: 100
/move_group/planner_configs/BiTRRT/range: 0.0
/move_group/planner_configs/BiTRRT/temp_change_factor: 0.1
/move_group/planner_configs/BiTRRT/type: geometric::BiTRRT
/move_group/planner_configs/EST/goal_bias: 0.05
/move_group/planner_configs/EST/range: 0.0
/move_group/planner_configs/EST/type: geometric::EST
/move_group/planner_configs/FMT/cache_cc: 1
/move_group/planner_configs/FMT/extended_fmt: 1
/move_group/planner_configs/FMT/heuristics: 0
/move_group/planner_configs/FMT/nearest_k: 1
/move_group/planner_configs/FMT/num_samples: 1000
/move_group/planner_configs/FMT/radius_multiplier: 1.1
/move_group/planner_configs/FMT/type: geometric::FMT
/move_group/planner_configs/KPIECE/border_fraction: 0.9
/move_group/planner_configs/KPIECE/failed_expansion_score_factor: 0.5
/move_group/planner_configs/KPIECE/goal_bias: 0.05
/move_group/planner_configs/KPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/KPIECE/range: 0.0
/move_group/planner_configs/KPIECE/type: geometric::KPIECE
/move_group/planner_configs/LBKPIECE/border_fraction: 0.9
/move_group/planner_configs/LBKPIECE/min_valid_path_fraction: 0.5
/move_group/planner_configs/LBKPIECE/range: 0.0
/move_group/planner_configs/LBKPIECE/type: geometric::LBKPIECE
/move_group/planner_configs/LBTRRT/epsilon: 0.4
/move_group/planner_configs/LBTRRT/goal_bias: 0.05
/move_group/planner_configs/LBTRRT/range: 0.0
/move_group/planner_configs/LBTRRT/type: geometric::LBTRRT
/move_group/planner_configs/LazyPRM/range: 0.0
/move_group/planner_configs/LazyPRM/type: geometric::LazyPRM
/move_group/planner_configs/LazyPRMstar/type: geometric::LazyPR...
/move_group/planner_configs/PDST/type: geometric::PDST
/move_group/planner_configs/PRM/max_nearest_neighbors: 10
/move_group/planner_configs/PRM/type: geometric::PRM
/move_group/planner_configs/PRMstar/type: geometric::PRMstar
/move_group/planner_configs/ProjEST/goal_bias: 0.05
/move_group/planner_configs/ProjEST/range: 0.0
/move_group/planner_configs/ProjEST/type: geometric::ProjEST
/move_group/planner_configs/RRT/goal_bias: 0.05
/move_group/planner_configs/RRT/range: 0.0
/move_group/planner_configs/RRT/type: geometric::RRT
/move_group/planner_configs/RRTConnect/range: 0.0
/move_group/planner_configs/RRTConnect/type: geometric::RRTCon...
/move_group/planner_configs/RRTstar/delay_collision_checking: 1
/move_group/planner_configs/RRTstar/goal_bias: 0.05
/move_group/planner_configs/RRTstar/range: 0.0
/move_group/planner_configs/RRTstar/type: geometric::RRTstar
/move_group/planner_configs/SBL/range: 0.0
/move_group/planner_configs/SBL/type: geometric::SBL
/move_group/planner_configs/SPARS/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARS/max_failures: 1000
/move_group/planner_configs/SPARS/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARS/stretch_factor: 3.0
/move_group/planner_configs/SPARS/type: geometric::SPARS
/move_group/planner_configs/SPARStwo/dense_delta_fraction: 0.001
/move_group/planner_configs/SPARStwo/max_failures: 5000
/move_group/planner_configs/SPARStwo/sparse_delta_fraction: 0.25
/move_group/planner_configs/SPARStwo/stretch_factor: 3.0
/move_group/planner_configs/SPARStwo/type: geometric::SPARStwo
/move_group/planner_configs/STRIDE/degree: 16
/move_group/planner_configs/STRIDE/estimated_dimension: 0.0
/move_group/planner_configs/STRIDE/goal_bias: 0.05
/move_group/planner_configs/STRIDE/max_degree: 18
/move_group/planner_configs/STRIDE/max_pts_per_leaf: 6
/move_group/planner_configs/STRIDE/min_degree: 12
/move_group/planner_configs/STRIDE/min_valid_path_fraction: 0.2
/move_group/planner_configs/STRIDE/range: 0.0
/move_group/planner_configs/STRIDE/type: geometric::STRIDE
/move_group/planner_configs/STRIDE/use_projected_distance: 0
/move_group/planner_configs/TRRT/frountierNodeRatio: 0.1
/move_group/planner_configs/TRRT/frountier_threshold: 0.0
/move_group/planner_configs/TRRT/goal_bias: 0.05
/move_group/planner_configs/TRRT/init_temperature: 10e-6
/move_group/planner_configs/TRRT/k_constant: 0.0
/move_group/planner_configs/TRRT/max_states_failed: 10
/move_group/planner_configs/TRRT/min_temperature: 10e-10
/move_group/planner_configs/TRRT/range: 0.0
/move_group/planner_configs/TRRT/temp_change_factor: 2.0
/move_group/planner_configs/TRRT/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/sensors: [{'filtered_cloud...
/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/allowed_start_tolerance: 0.01
/moveit_sim_hw_interface/joint_model_group: arm_group
/moveit_sim_hw_interface/joint_model_group_pose: init_pose
/robot_description: <?xml version="1....
/robot_description_kinematics/arm_group/kinematics_solver: kdl_kinematics_pl...
/robot_description_kinematics/arm_group/kinematics_solver_attempts: 3
/robot_description_kinematics/arm_group/kinematics_solver_search_resolution: 0.005
/robot_description_kinematics/arm_group/kinematics_solver_timeout: 0.005
/robot_description_planning/joint_limits/joint2_to_joint1/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint2_to_joint1/has_velocity_limits: False
/robot_description_planning/joint_limits/joint2_to_joint1/max_acceleration: 0
/robot_description_planning/joint_limits/joint2_to_joint1/max_velocity: 0
/robot_description_planning/joint_limits/joint3_to_joint2/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint3_to_joint2/has_velocity_limits: False
/robot_description_planning/joint_limits/joint3_to_joint2/max_acceleration: 0
/robot_description_planning/joint_limits/joint3_to_joint2/max_velocity: 0
/robot_description_planning/joint_limits/joint4_to_joint3/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint4_to_joint3/has_velocity_limits: False
/robot_description_planning/joint_limits/joint4_to_joint3/max_acceleration: 0
/robot_description_planning/joint_limits/joint4_to_joint3/max_velocity: 0
/robot_description_planning/joint_limits/joint5_to_joint4/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint5_to_joint4/has_velocity_limits: False
/robot_description_planning/joint_limits/joint5_to_joint4/max_acceleration: 0
/robot_description_planning/joint_limits/joint5_to_joint4/max_velocity: 0
/robot_description_planning/joint_limits/joint6_to_joint5/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint6_to_joint5/has_velocity_limits: False
/robot_description_planning/joint_limits/joint6_to_joint5/max_acceleration: 0
/robot_description_planning/joint_limits/joint6_to_joint5/max_velocity: 0
/robot_description_planning/joint_limits/joint6output_to_joint6/has_acceleration_limits: False
/robot_description_planning/joint_limits/joint6output_to_joint6/has_velocity_limits: False
/robot_description_planning/joint_limits/joint6output_to_joint6/max_acceleration: 0
/robot_description_planning/joint_limits/joint6output_to_joint6/max_velocity: 0
/robot_description_semantic: <?xml version="1....
/rosdistro: noetic
/rosversion: 1.15.13
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver: kdl_kinematics_pl...
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_attempts: 3
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_search_resolution: 0.005
/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_timeout: 0.005
/use_sim_time: True

NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_ubuntu_17366_7161459687332021435 (rviz/rviz)
spawn_gazebo_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [17374]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 92b76b60-6dcf-11ec-8eec-e37c200a2edc
process[rosout-1]: started with pid [17384]
started core service [/rosout]
process[gazebo-2]: started with pid [17391]
process[gazebo_gui-3]: started with pid [17394]
process[spawn_gazebo_model-4]: started with pid [17401]
process[controller_spawner-5]: started with pid [17402]
process[joint_state_publisher-6]: started with pid [17403]
process[robot_state_publisher-7]: started with pid [17404]
process[move_group-8]: started with pid [17405]
process[rviz_ubuntu_17366_7161459687332021435-9]: started with pid [17406]
[ WARN] [1641349884.300905129]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[ WARN] [1641349884.306829416]: Falling back to using the the move_group node namespace (deprecated behavior).
[ INFO] [1641349884.358769088]: Loading robot model 'firefighter'...
usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns] [--timeout T] [--no-timeout]
[--shutdown-timeout SHUTDOWN_TIMEOUT]
controller [controller ...]
spawner: error: the following arguments are required: controller
[ INFO] [1641349884.591287303]: rviz version 1.14.11
[ INFO] [1641349884.591414982]: compiled against Qt version 5.12.8
[ INFO] [1641349884.591436916]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1641349884.648803696]: Forcing OpenGl version 0.
[controller_spawner-5] process has died [pid 17402, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5.log].
log file: /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/controller_spawner-5*.log
[INFO] [1641349884.883613, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1641349884.889865, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ WARN] [1641349884.901099560]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm_group/kinematics_solver_attempts' from your configuration.
[ INFO] [1641349885.184700151]: Stereo is NOT SUPPORTED
[ INFO] [1641349885.184990839]: OpenGL device: SVGA3D; build: RELEASE; LLVM;
[ INFO] [1641349885.185083236]: OpenGl version: 2.1 (GLSL 1.2).
[ INFO] [1641349885.207383147]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349885.215393125]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349885.409836319]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1641349885.413670776]: Listening to 'joint_states' for joint states
[ INFO] [1641349885.424290118]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1641349885.424386190]: Starting planning scene monitor
[ INFO] [1641349885.427009962]: Listening to '/planning_scene'
[ INFO] [1641349885.427231742]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1641349885.429874028]: Listening to '/collision_object'
[ INFO] [1641349885.432958575]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1641349885.493739962]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1641349885.495811508]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1641349885.928483870]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1641349885.969412620, 0.017000000]: Physics dynamic reconfigure ready.
[INFO] [1641349886.103939, 0.135000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1641349886.322105, 0.315000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-4] process has finished cleanly
log file: /home/robot/.ros/log/92b76b60-6dcf-11ec-8eec-e37c200a2edc/spawn_gazebo_model-4*.log
[ INFO] [1641349887.352675213, 1.346000000]: Listening to '/head_mount_kinect/depth_registered/points' using message filter with target frame 'joint1 '
[ INFO] [1641349887.352767131, 1.346000000]: Loading planning pipeline ''
[ERROR] [1641349887.392816981, 1.388000000]: Could not find the planner configuration 'None' on the param server
[ INFO] [1641349887.445387988, 1.431000000]: Using planning interface 'OMPL'
[ INFO] [1641349887.453674895, 1.440000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1641349887.455007054, 1.441000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1641349887.456185042, 1.442000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349887.459965453, 1.446000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1641349887.461015850, 1.447000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1641349887.462624840, 1.449000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1641349887.462768665, 1.449000000]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1641349887.462853641, 1.449000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1641349887.463575200, 1.449000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1641349887.463639807, 1.450000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1641349887.463725295, 1.450000000]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1641349887.480374589, 1.462000000]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1641349887.515772856, 1.492000000]: Trajectory execution is managing controllers
[ INFO] [1641349887.515964940, 1.492000000]: MoveGroup debug mode is ON
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] [1641349887.718422177, 1.701000000]:

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

[ INFO] [1641349887.718528208, 1.701000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1641349887.718551365, 1.701000000]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1641349889.393690916, 3.346000000]: Loading robot model 'firefighter'...
[ WARN] [1641349890.017421293, 3.956000000]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_ubuntu_17366_7161459687332021435/arm_group/kinematics_solver_attempts' from your configuration.
[ INFO] [1641349890.586570516, 4.515000000]: Starting planning scene monitor
[ INFO] [1641349890.593662163, 4.523000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1641349891.442518922, 5.352000000]: Constructing new MoveGroup connection for group 'arm_group' in namespace ''
[ INFO] [1641349892.468871406, 6.366000000]: Ready to take commands for planning group arm_group.

Run MoveIt tutorial from Docker

Hi I followed the instructions in tutorial posted on the ROS wiki to run the project in Docker. When I got to Step 3.3 for MoveIt, it said to run the command roslaunch mycobot_ros mycobot_moveit.launch. It wasn't clear to me how to run this command inside the Docker container. I tried to exec into the container and the bash environment is not setup correctly.

$ d exec -it mycobot_ros_nvidia-ros_1 /bin/bash
root@3cf5ce98d945:/catkin_ws# roslaunch
bash: roslaunch: command not found

I'm not sure the best way to run this command, so I opened up the docker-compose.yml file and I added this command to services. I was able to get it running successfully.

nvidia-moveit:
    <<: *common
    command: [ "roslaunch mycobot_320_moveit mycobot320_moveit.launch" ]
    runtime: nvidia

Does it make sense to add this to the docker-compose file or is a better way to run it? Happy to submit a PR if it'd be helpful.

Also, the documentation does not mention it, but I had to install the nvidia-docker2 system package on Ubuntu to get the Nvidia runtime installed. As of Docker 19.03 I think its not required anymore, but it wouldn't run without it. See here to learn more https://docs.nvidia.com/ai-enterprise/deployment-guide/dg-docker.html

Would it make sense to mention these details in the documentation?

Request D-H table for mecharm270 PI

Is there anywhere the D-H table for mecharm270 PI can be found?

ROS 2 Support

Are there any timelines for ROS 2 support?

Support for ROS control

Hello,
Was wondering if the robot is compatible with the ROS_control packages and if not are there plans to support that in the future?
Regards,

Could you upload the CAD model of the flange (the part of the end-effector)?

I am currently working on realistic textures for myCobot model.
If you have a model of the flange, myCobot model will be closer to realistic.

Even if it is difficult to upload, I will pull request for realistic textures other than the flange!

test.py not working with my mycobot pi I just receieved.

Hi, I'm trying to get test.py to work.

So far I changed the port to /dev/ttyAMA0 and am not getting any errors but nothing happens.

Here is the output:
`ubuntu@ubuntu:~/catkin_ws/src/mycobot_ros$ python test.py
Start check api

::get_angles()
==> degrees: []

::get_radians()
==> radians: []

::send_angles()
==> set angles [0,0,0,0,0,0], speed 80

Is moving: -1
::send_radians
==> set raidans [1,1,1,1,1,1], speed 70

::send_angle()
==> angle: joint2, degree: 10, speed: 50

::get_coords()
==> coords []

::send_coords()
==> send coords [160,160,160,0,0,0], speed 70, mode 0

-1
::send_coord()
==> send coord id: X, coord value: -40, speed: 70

::release_all_servos()
==> into free moving mode.
=== check end <==`

Any help is greatly appreciated! Let me know if you need more details.

Adding CI for build testing

How about adding a CI configuration (e.g. https://github.com/ros-industrial/industrial_ci) to check if catkin_make can be done without errors?
I think you'll notice bugs like #20 right away.
I can send a PR if you wish.

[mycobot_slider.launch] is neither a launch file in package [mycobot_ros] nor is [mycobot_ros] a launch file name

I'm trying to get ROS running on a myCobot 280 Pi. I'm working locally on the builtin raspberry pi, where ROS is installed.
Typing roscore sucessfully launches ros. However, if I follow the tutorial from Elephant Robotics to launch rviz with the sliders I'm getting the following error:

ubuntu@ubuntu:~/catkin_ws$ roslaunch mycobot_ros mycobot_slider.launch RLException: [mycobot_slider.launch] is neither a launch file in package [mycobot_ros] nor is [mycobot_ros] a launch file name The traceback for the exception was written to the log file

Any idea on what I'm doing wrong? the source paths are set.

ROS2 Support

Are you planning to support ROS2 anytime soon?

ROS in docker: rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException)

Error:

 [ WARN] [1632475519.441226059]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
ros_1         | rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-B6QkmW/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)

Environment:

$ docker-compose --version --short
docker-compose version 1.29.2, build 5becea4c

$ docker --version
Docker version 20.10.8, build 3967b7d

$ dpkg -l | grep nvidia-docker2
ii  nvidia-docker2                                  2.6.0-1 

$ nvidia-smi | head -n 4
Fri Sep 24 18:27:49 2021       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.91.03    Driver Version: 460.91.03    CUDA Version: 11.2     |
|-------------------------------+----------------------+----------------------+

I see this issue.
Adding the followings to the docker-compose.yaml solved the problem, but I can't run docker container without GPU.

x-app: &common
  command: [ "roslaunch mycobot_320 mycobot_320_slider.launch" ]
  privileged: true
  environment:
    PYTHONUNBUFFERED: 1
    QT_X11_NO_MITSHM: 1
    DISPLAY: $DISPLAY
+    NVIDIA_VISIBLE_DEVICES: all
+    NVIDIA_DRIVER_CAPABILITIES: all
  volumes:
    - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
  build:
    context: .
    args: &common-args
      ROS_DISTRO: "melodic"
      PYMYCOBOT_VERSION: ">=2<3"
      BASE_IMAGE: nvidia/opengl:1.1-glvnd-runtime-ubuntu18.04

/bin/bash: -c: option requires an argument

Hi there!
When I try to run a new container, it exits with the message in the title.
How do I fix it?

Upgrading to ATOMver 2.5 or later, moveit simulation and The actual machine flips all but the third axis

I'd like to update ATOM to the latest version, but my repository Upgrading to ATOMver 2.5 or later, moveit simulation and The actual machine will flip all but the third axis. Is there a way to fix this?

MyCobot.is_moving() always returns True

Procedure for reproducing:

put MyCobot.is_moving() in control_slider.py
roslaunch myCobotROS control.launch
rosrun myCobotROS control_slider.py

Return of MyCobot.is_moving() is always True, though myCobot stands still.

What is the difinition of moving in this API?

Thank you.

mecharm_pi corrupted .dae file error: Expected end of <author> element.

Issue Description

Thank you for creating and maintaining this ROS1 support for the various Elephant Robotics robotic models. Would like to contribute to the development of this GitHub repository codebase by highlighting the following error encountered and offering both a quick short-term workaround as well as suggest a long-term fix for it constructively.

I will also make a pull request shortly to introduce the aforementioned workaround for the issue.

Unable to run roslaunch mecharm_pi test.launch ROS1 package. Critical error encountered in the corresponding .dae files concerning mecharm _pi robot model.

Environment

Ubuntu 20.04
ROS1 Noetic

Steps to Reproduce Issue

Please run the commands below, given the environment mentioned above:

# Build the mycobot_ros ROS1 package
cd $HOME
mkdir -p catkin_ws/src
cd catkin_ws/src 
git clone https://github.com/elephantrobotics/mycobot_ros.git --depth 1
cd ~/catkin_ws
catkin build

# Run mecharm_pi ROS1 package test.launch
cd ~/catkin_ws
source devel/setup.bash
roslaunch mecharm_pi test.launch

Expected Behaviour

RViz starts up and visualizes mecharm_pi.urdf as follows:

Actual Behaviour

RViz does not start up. The following error is outputted to terminal:

[ERROR] [1659090213.462409894]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/base.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/base.dae - Expected end of <author> element.
[ERROR] [1659090213.472028665]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/base.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/base.dae - Expected end of <author> element.
[ERROR] [1659090213.479244267]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link1.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link1.dae - Expected end of <author> element.
[ERROR] [1659090213.485886783]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link1.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link1.dae - Expected end of <author> element.
[ERROR] [1659090213.498469781]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link2.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link2.dae - Expected end of <author> element.
[ERROR] [1659090213.510806561]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link2.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link2.dae - Expected end of <author> element.
[ERROR] [1659090213.514786006]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link3.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link3.dae - Expected end of <author> element.
[ERROR] [1659090213.518433731]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link3.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link3.dae - Expected end of <author> element.
[ERROR] [1659090213.522109447]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link4.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link4.dae - Expected end of <author> element.
[ERROR] [1659090213.525445284]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link4.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link4.dae - Expected end of <author> element.
[ERROR] [1659090213.527529441]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link5.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link5.dae - Expected end of <author> element.
[ERROR] [1659090213.529346492]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link5.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link5.dae - Expected end of <author> element.
[ERROR] [1659090213.531029594]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link6.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link6.dae - Expected end of <author> element.
[ERROR] [1659090213.532481652]: Could not load resource [package://mycobot_description/urdf/mecharm_pi/link6.dae]: Collada: package://mycobot_description/urdf/mecharm_pi/link6.dae - Expected end of <author> element.

Comments

The aforementioned short-term workaround and the long-term fix suggestion will be added below shortly.

myCobot-500 support

I noticed that at some point the code has been refactored towards specific models.
Is/will be the 500 supported, or should I revert to some previous commit instead?

Mycobot serial port shows up as /dev/ttyACM* instead of /dev/ttyUSB* in Ubunt 18.04

Hello,

I am having the issue where I can't get the Mycobot to show up as a USB device in linux. This is correctable in the mycobot pi API (where I can just change it on the fly).

Is there a way to fix this in the ROS API also? Or is there a way to get it to show up as a USB device.

Set payload

Hello guys, I'm wondering if there is a way to set the payload when changing the end effector. Thank you for your time.

_port for all ros commands instead of port

In your documentation you state to give the usb port with port:=/dev/ttyACM0 however it only works with _port:=/dev/ttyACM0

MyCobot API is_moving() does'nt work

MyCobot API is_moving() does'nt work, when I call it in my ROS node. Then node dies.

Traceback (most recent call last):
  File "/home/nish/git/myCobotROS/scripts/pythonAPI/mycobot.py", line 226, in is_moving
    flag = int(data.hex(), 16)
AttributeError: 'str' object has no attribute 'hex'

mycobotpi catkin_make error

Hi
If you change the ros_catkin_ws originally in mycobotpi and run the catkin_make, the following error occurs. Is there a way to solve this?

pi@raspberrypi:~/ros_catkin_ws $ catkin_make
Traceback (most recent call last):
  File "/home/pi/ros_catkin_ws/devel/bin/catkin_make", line 7, in <module>
    with open(python_script, 'r') as fh:
IOError: [Errno 2] No such file or directory: '/home/pi/ros_catkin_ws/src/catkin/bin/catkin_make'

can't spawn mycobot model on gazebo

I tested gazebo.launch on laptop host, not Docker. Mycobot model seems to be spawned, but it is interrupted by someone with signal_shutdown [atexit]. My environment is following.
Ubuntu 20.04
ROS noetic
Any suggestion is helpful for me.

console output

$ roslaunch mycobot_ros gazebo.launch
... logging to /home/yoshi/.ros/log/07e9e666-beed-11eb-8814-61c2beabc12d/roslaunch-carp-101041.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://carp:39985/

SUMMARY

PARAMETERS

/controller_list: [{'name': 'mycobo...
/gazebo/enable_ros_network: True
/generic_hw_control_loop/cycle_time_error_threshold: 0.01
/generic_hw_control_loop/loop_hz: 300
/hardware_interface/joints: ['joint2_to_joint...
/hardware_interface/sim_control_mode: 1
/joint_state_controller/publish_rate: 50
/joint_state_controller/type: joint_state_contr...
/moveit_sim_hw_interface/joint_model_group: mycobot_arm
/moveit_sim_hw_interface/joint_model_group_pose: init_pose
/robot_description: <?xml version="1....
/rosdistro: noetic
/rosversion: 1.15.11
/use_sim_time: True

NODES
/
controller_spawner (controller_manager/spawner)
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
spawn_gazebo_model (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

process[gazebo-1]: started with pid [101055]
process[gazebo_gui-2]: started with pid [101060]
process[spawn_gazebo_model-3]: started with pid [101065]
process[controller_spawner-4]: started with pid [101066]
usage: spawner [-h] [--stopped] [--wait-for topic] [--namespace ns] [--timeout T] [--no-timeout]
[--shutdown-timeout SHUTDOWN_TIMEOUT]
controller [controller ...]
spawner: error: the following arguments are required: controller
[controller_spawner-4] process has died [pid 101066, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/yoshi/.ros/log/07e9e666-beed-11eb-8814-61c2beabc12d/controller_spawner-4.log].
log file: /home/yoshi/.ros/log/07e9e666-beed-11eb-8814-61c2beabc12d/controller_spawner-4*.log
[INFO] [1622123823.927332, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1622123823.930062, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1622123824.082596111]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1622123824.083617142]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1622123824.217451605]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1622123824.218573599]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1622123824.944414549]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1622123824.987983233, 0.039000000]: Physics dynamic reconfigure ready.
[INFO] [1622123825.136705, 0.183000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1622123825.346427, 0.368000]: Spawn status: SpawnModel: Successfully spawned entity
[spawn_gazebo_model-3] process has finished cleanly
log file: /home/yoshi/.ros/log/07e9e666-beed-11eb-8814-61c2beabc12d/spawn_gazebo_model-3*.log

spawn_gazebo_model-3.log

[rospy.client][INFO] 2021-05-27 22:50:05,347: init_node, name[/spawn_gazebo_model], pid[98985]
[xmlrpc][INFO] 2021-05-27 22:50:05,347: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-05-27 22:50:05,348: Started XML-RPC server [http://carp:38075/]
[rospy.impl.masterslave][INFO] 2021-05-27 22:50:05,348: _ready: http://carp:38075/
[rospy.registration][INFO] 2021-05-27 22:50:05,348: Registering with master node http://localhost:11311
[rospy.init][INFO] 2021-05-27 22:50:05,348: ROS Slave URI: [http://carp:38075/]
[xmlrpc][INFO] 2021-05-27 22:50:05,349: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2021-05-27 22:50:05,349: registered with master
[rospy.rosout][INFO] 2021-05-27 22:50:05,349: initializing /rosout core topic
[rospy.rosout][INFO] 2021-05-27 22:50:05,352: connected to core topic /rosout
[rospy.simtime][INFO] 2021-05-27 22:50:05,352: initializing /clock core topic
[rospy.simtime][INFO] 2021-05-27 22:50:05,354: connected to core topic /clock
[rosout][INFO] 2021-05-27 22:50:05,356: Loading model XML from ros parameter robot_description
[rosout][INFO] 2021-05-27 22:50:05,360: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2021-05-27 22:50:05,558: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2021-05-27 22:50:06,474: topic[/clock] adding connection to [http://carp:46557/], count 0
[rosout][INFO] 2021-05-27 22:50:06,566: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2021-05-27 22:50:06,639: Spawn status: SpawnModel: Successfully spawned entity
[rospy.core][INFO] 2021-05-27 22:50:06,640: signal_shutdown [atexit]
[rospy.internal][INFO] 2021-05-27 22:50:06,641: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2021-05-27 22:50:06,642: topic[/clock] removing connection to http://carp:46557/
[rospy.impl.masterslave][INFO] 2021-05-27 22:50:06,642: atexit
[rospy.internal][WARNING] 2021-05-27 22:50:06,642: Unknown error initiating TCP/IP socket to carp:59469 (http://carp:46557/): Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 562, in connect
self.read_header()
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 657, in read_header
self._validate_header(read_ros_handshake_header(sock, self.read_buff, self.protocol.buff_size))
AttributeError: 'NoneType' object has no attribute 'buff_size'

[rospy.client][INFO] 2021-05-27 22:51:42,712: init_node, name[/spawn_gazebo_model], pid[99915]
[xmlrpc][INFO] 2021-05-27 22:51:42,712: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-05-27 22:51:42,713: Started XML-RPC server [http://carp:39517/]
[rospy.impl.masterslave][INFO] 2021-05-27 22:51:42,713: _ready: http://carp:39517/
[rospy.init][INFO] 2021-05-27 22:51:42,713: ROS Slave URI: [http://carp:39517/]
[rospy.registration][INFO] 2021-05-27 22:51:42,713: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2021-05-27 22:51:42,714: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2021-05-27 22:51:42,814: registered with master
[rospy.rosout][INFO] 2021-05-27 22:51:42,814: initializing /rosout core topic
[rospy.rosout][INFO] 2021-05-27 22:51:42,817: connected to core topic /rosout
[rospy.simtime][INFO] 2021-05-27 22:51:42,818: initializing /clock core topic
[rospy.simtime][INFO] 2021-05-27 22:51:42,820: connected to core topic /clock
[rosout][INFO] 2021-05-27 22:51:42,822: Loading model XML from ros parameter robot_description
[rosout][INFO] 2021-05-27 22:51:42,826: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2021-05-27 22:51:43,078: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2021-05-27 22:51:43,780: topic[/clock] adding connection to [http://carp:42945/], count 0
[rosout][INFO] 2021-05-27 22:51:44,032: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2021-05-27 22:51:44,165: Spawn status: SpawnModel: Successfully spawned entity
[rospy.core][INFO] 2021-05-27 22:51:44,166: signal_shutdown [atexit]
[rospy.internal][INFO] 2021-05-27 22:51:44,168: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2021-05-27 22:51:44,168: topic[/clock] removing connection to http://carp:42945/
[rospy.impl.masterslave][INFO] 2021-05-27 22:51:44,168: atexit
[rospy.internal][WARNING] 2021-05-27 22:51:44,168: Unknown error initiating TCP/IP socket to carp:53017 (http://carp:42945/): Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/rospy/impl/tcpros_base.py", line 563, in connect
self.local_endpoint = self.socket.getsockname()
AttributeError: 'NoneType' object has no attribute 'getsockname'

[rospy.client][INFO] 2021-05-27 22:52:45,403: init_node, name[/spawn_gazebo_model], pid[100295]
[xmlrpc][INFO] 2021-05-27 22:52:45,404: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-05-27 22:52:45,404: Started XML-RPC server [http://carp:45345/]
[rospy.impl.masterslave][INFO] 2021-05-27 22:52:45,404: _ready: http://carp:45345/
[rospy.init][INFO] 2021-05-27 22:52:45,404: ROS Slave URI: [http://carp:45345/]
[rospy.registration][INFO] 2021-05-27 22:52:45,405: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2021-05-27 22:52:45,405: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2021-05-27 22:52:45,505: registered with master
[rospy.rosout][INFO] 2021-05-27 22:52:45,505: initializing /rosout core topic
[rospy.rosout][INFO] 2021-05-27 22:52:45,508: connected to core topic /rosout
[rospy.simtime][INFO] 2021-05-27 22:52:45,509: initializing /clock core topic
[rospy.simtime][INFO] 2021-05-27 22:52:45,511: connected to core topic /clock
[rosout][INFO] 2021-05-27 22:52:45,513: Loading model XML from ros parameter robot_description
[rosout][INFO] 2021-05-27 22:52:45,516: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2021-05-27 22:52:45,767: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2021-05-27 22:52:46,551: topic[/clock] adding connection to [http://carp:39073/], count 0
[rosout][INFO] 2021-05-27 22:52:46,722: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2021-05-27 22:52:46,914: Spawn status: SpawnModel: Successfully spawned entity
[rospy.core][INFO] 2021-05-27 22:52:46,915: signal_shutdown [atexit]
[rospy.internal][INFO] 2021-05-27 22:52:46,917: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2021-05-27 22:52:46,917: topic[/clock] removing connection to http://carp:39073/
[rospy.impl.masterslave][INFO] 2021-05-27 22:52:46,917: atexit
[rospy.client][INFO] 2021-05-27 22:56:17,586: init_node, name[/spawn_gazebo_model], pid[100734]
[xmlrpc][INFO] 2021-05-27 22:56:17,586: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-05-27 22:56:17,586: Started XML-RPC server [http://carp:33663/]
[rospy.init][INFO] 2021-05-27 22:56:17,586: ROS Slave URI: [http://carp:33663/]
[rospy.impl.masterslave][INFO] 2021-05-27 22:56:17,587: _ready: http://carp:33663/
[rospy.registration][INFO] 2021-05-27 22:56:17,587: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2021-05-27 22:56:17,587: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2021-05-27 22:56:17,687: registered with master
[rospy.rosout][INFO] 2021-05-27 22:56:17,687: initializing /rosout core topic
[rospy.rosout][INFO] 2021-05-27 22:56:17,691: connected to core topic /rosout
[rospy.simtime][INFO] 2021-05-27 22:56:17,693: initializing /clock core topic
[rospy.simtime][INFO] 2021-05-27 22:56:17,695: connected to core topic /clock
[rosout][INFO] 2021-05-27 22:56:17,698: Loading model XML from ros parameter robot_description
[rosout][INFO] 2021-05-27 22:56:17,701: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2021-05-27 22:56:17,931: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2021-05-27 22:56:18,734: topic[/clock] adding connection to [http://carp:33613/], count 0
[rosout][INFO] 2021-05-27 22:56:18,908: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2021-05-27 22:56:19,067: Spawn status: SpawnModel: Successfully spawned entity
[rospy.core][INFO] 2021-05-27 22:56:19,068: signal_shutdown [atexit]
[rospy.internal][INFO] 2021-05-27 22:56:19,070: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2021-05-27 22:56:19,070: topic[/clock] removing connection to http://carp:33613/
[rospy.impl.masterslave][INFO] 2021-05-27 22:56:19,070: atexit
[rospy.client][INFO] 2021-05-27 22:57:03,818: init_node, name[/spawn_gazebo_model], pid[101065]
[xmlrpc][INFO] 2021-05-27 22:57:03,818: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-05-27 22:57:03,819: Started XML-RPC server [http://carp:41943/]
[rospy.init][INFO] 2021-05-27 22:57:03,819: ROS Slave URI: [http://carp:41943/]
[rospy.impl.masterslave][INFO] 2021-05-27 22:57:03,819: _ready: http://carp:41943/
[rospy.registration][INFO] 2021-05-27 22:57:03,820: Registering with master node http://localhost:11311
[xmlrpc][INFO] 2021-05-27 22:57:03,820: xml rpc node: starting XML-RPC server
[rospy.init][INFO] 2021-05-27 22:57:03,919: registered with master
[rospy.rosout][INFO] 2021-05-27 22:57:03,919: initializing /rosout core topic
[rospy.rosout][INFO] 2021-05-27 22:57:03,923: connected to core topic /rosout
[rospy.simtime][INFO] 2021-05-27 22:57:03,923: initializing /clock core topic
[rospy.simtime][INFO] 2021-05-27 22:57:03,925: connected to core topic /clock
[rosout][INFO] 2021-05-27 22:57:03,927: Loading model XML from ros parameter robot_description
[rosout][INFO] 2021-05-27 22:57:03,930: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2021-05-27 22:57:04,149: topic[/rosout] adding connection to [/rosout], count 0
[rospy.internal][INFO] 2021-05-27 22:57:04,952: topic[/clock] adding connection to [http://carp:37935/], count 0
[rosout][INFO] 2021-05-27 22:57:05,136: Calling service /gazebo/spawn_urdf_model
[rosout][INFO] 2021-05-27 22:57:05,346: Spawn status: SpawnModel: Successfully spawned entity
[rospy.core][INFO] 2021-05-27 22:57:05,347: signal_shutdown [atexit]
[rospy.internal][INFO] 2021-05-27 22:57:05,348: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2021-05-27 22:57:05,349: topic[/clock] removing connection to http://carp:37935/
[rospy.impl.masterslave][INFO] 2021-05-27 22:57:05,349: atexit

Adaptive Gripper dae broken in noetic

Thank you for adding a dae file for an adaptive gripper recently. It worked in melodic, but it seems to be broken in noetic... could you please check it? Since i need to use noetic for my project, I would like you to fix it.

Unable to build ROS image

When i am doing docker-compose build ros i am getting the following error message on step 11/16:

Step 1/16 : ARG BASE_IMAGE
Step 2/16 : FROM ${BASE_IMAGE}
---> c6ad7e71ba7d
Step 3/16 : COPY --from=osrf/ros:melodic-desktop-full / /
---> Using cache
---> 1a0500a93b87
Step 4/16 : ENV BASH_ENV="/root/launch.sh"
---> Using cache
---> f8a8ed25a24d
Step 5/16 : SHELL ["/bin/bash", "-c"]
---> Using cache
---> 99bc49d29475
Step 6/16 : ENTRYPOINT ["/bin/bash", "-c"]
---> Using cache
---> 7e0b677cf5b2
Step 7/16 : ARG ROS_DISTRO
---> Using cache
---> 559228ff279d
Step 8/16 : RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> $BASH_ENV
---> Using cache
---> 18a0b80c7a53
Step 9/16 : WORKDIR /catkin_ws/src
---> Using cache
---> 5c7f805855f6
Step 10/16 : COPY . mycobot_ros
---> Using cache
---> 3a41492f654f
Step 11/16 : RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     apt-get 
update &&     apt-get install -y         python-rosinstall         python-rosinstall-generator         python-wstool         build- 
essential         python3-pip &&     rosdep install -r -y -i --from-paths . &&     rm -rf /var/lib/apt/lists/*
---> Running in 765b6ad5e34d
 /bin/bash: curl: command not found
Warning: apt-key output should not be parsed (stdout is not a terminal)
gpg: no valid OpenPGP data found.
The command '/bin/bash -c curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - &&     
apt-get update &&     apt-get install -y         python-rosinstall         python-rosinstall-generator         python-wstool         
build-essential         python3-pip &&     rosdep install -r -y -i --from-paths . &&     rm -rf /var/lib/apt/lists/*' returned a non- 
zero code: 2
ERROR: Service 'ros' failed to build : Build failed

By adding the installation of curl inside the Docker file i get rid of this message, but i am getting a final message on step 17/18 with Catkin make:

Step 16/18 : WORKDIR /catkin_ws
---> Running in ffa18663e400
Removing intermediate container ffa18663e400
---> 95436b4f1ddd
Step 17/18 : RUN catkin_make
---> Running in dc3cf21bde76
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 15 packages in topological order:
-- ~~  - mycobot_description
-- ~~  - mycobot_320_moveit
-- ~~  - mycobot_600
-- ~~  - mycobot_communication
-- ~~  - mycobot_320
-- ~~  - mycobot_280
-- ~~  - mycobot_280arduino
-- ~~  - mycobot_280jn
-- ~~  - mypalletizer_communication
-- ~~  - mycobot_280_moveit
-- ~~  - mycobot_280arduino_moveit
-- ~~  - mycobot_280jn_moveit
-- ~~  - mypalletizer_260_moveit
-- ~~  - mycobot_ai
-- ~~  - mypalletizer_260
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'mycobot_description'
-- ==> add_subdirectory(mycobot_ros/mycobot_description)
-- +++ processing catkin package: 'mycobot_320_moveit'
-- ==> add_subdirectory(mycobot_ros/mycobot_320/mycobot_320_moveit)
-- +++ processing catkin package: 'mycobot_600'
-- ==> add_subdirectory(mycobot_ros/mycobot_pro_600/mycobot_600)
-- +++ processing catkin package: 'mycobot_communication'
-- ==> add_subdirectory(mycobot_ros/mycobot_communication)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- mycobot_communication: 6 messages, 6 services
-- +++ processing catkin package: 'mycobot_320'
-- ==> add_subdirectory(mycobot_ros/mycobot_320/mycobot_320)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find mycobot_320 (missing: mycobot_320_DIR)
-- Could not find the required component 'mycobot_320'. The following CMake error indicates that you either need to install 
the package with the same name or change your environment so that it can be found.

 CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
 Could not find a package configuration file provided by "mycobot_320" with
 any of the following names:
mycobot_320Config.cmake
mycobot_320-config.cmake
Add the installation prefix of "mycobot_320" to CMAKE_PREFIX_PATH or set
"mycobot_320_DIR" to a directory containing one of the above files.  If
"mycobot_320" provides a separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
mycobot_ros/mycobot_320/mycobot_320/CMakeLists.txt:6 (find_package)

-- Configuring incomplete, errors occurred!
See also "/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
Base path: /catkin_ws
Source space: /catkin_ws/src
Build space: /catkin_ws/build
Devel space: /catkin_ws/devel
Install space: /catkin_ws/install
Creating symlink "/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /catkin_ws/src -DCATKIN_DEVEL_PREFIX=/catkin_ws/devel - 
DCMAKE_INSTALL_PREFIX=/catkin_ws/install -G Unix Makefiles" in "/catkin_ws/build"
####
The command '/bin/bash -c catkin_make' returned a non-zero code: 1
ERROR: Service 'ros' failed to build : Build failed

I have tested on a Ubuntu server 20.04, Ubuntu 20.04 on a Windows and Mac Virtual Machine and the error message is the same.
Did i missed any configuration step?

How to release the end effector from leveling.

Hi.
Is this a hardware issue with MyCobot?
We are currently using a 6-axis robot arm (MyCobot) controlled by MoveIt and with the addition of a gripper. Moveit's automatic route generation cannot sample the valid state of the goal tree if error: RRTConnect: z = 0.15 or less. I want to grab something close to the ground. As you can see in this image, I think one of the factors is that the angle of the 4th axis does not change downward. After investigating, I think that the function to keep the position of the end effector horizontal is working. Is there a way to unlock it and use Move to bring the end effector closer to the ground? We have confirmed that the designated position is a position where the target can be achieved.

pick_and_placer.cpp

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group_interface.h>

int main(int argc, char **argv) {
  ros::init(argc, argv, "pickandplacer");
  ros::NodeHandle nh;

  ros::AsyncSpinner spinner(2);
  spinner.start();

  moveit::planning_interface::MoveGroupInterface arm("mycobot_arm");

  arm.setPoseReferenceFrame("base_link");

  ROS_INFO("Moving to prepare pose");
  geometry_msgs::PoseStamped pose1;
  pose1.header.frame_id = "base_link";
  pose1.pose.position.x = 0.0;
  pose1.pose.position.y = 0.25;
  pose1.pose.position.z = 0.15;


  moveit::planning_interface::MoveItErrorCode ret;

  ROS_INFO("move to WP1");
  arm.setPoseTarget(pose1);
  ret = arm.move();
  if (!ret) {
    ROS_WARN("Fail: %i", ret.val);
    arm.setNamedTarget("vertical");
    arm.move();
  }
  ros::Duration(1.5).sleep();

  ros::shutdown();
  return 0;
}

URDF

<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">


    <xacro:property name="width" value=".2" />
    <material name="dark blue">
        <color rgba="0.1 0.1 0.9 1" />
    </material>
    <material name="gray">
        <color rgba="0.8 0.8 0.8 1" />
    </material>
    <link name="world"/>



  <link name="base_link"/>
  <joint name="world_to_base_link" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
   <!-- holder joint & link -->
    <joint name="base_bottom_joint" type="fixed">
        <parent link="base_link" />
        <child link="base_bottom_link" />
        <origin xyz="0 0 0" rpy="0 0 0" />
    </joint>
    <link name="base_bottom_link">
    <inertial>
      <origin xyz="0 0 0" />
        <mass value="3" />
          <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>

        <visual name="base_bottom">
         <origin xyz="0 0 0.01" rpy="0 0 0" />
         <material name="LightGrey">
           <color rgba="0.7 0.7 0.7 1.0"/>
             </material>
          <geometry>
             <box size="0.15 0.15 0.02" />
          </geometry>
        </visual>
        <collision name="base_bottom">
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <box size="0.15 0.15 0.02" />
            </geometry>
        </collision>
    </link>
    <!-- body joint & link -->
    <joint name="body_joint" type="fixed">
        <parent link="base_bottom_link" />
        <child link="body_link" />
        <origin xyz="0 0 0.01" rpy="0 0 0" />
    </joint>
    <link name="body_link">
        <collision>
            <origin xyz="0.0 0 0" rpy=" 0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/collision/link1.stl" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0 " rpy=" 0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/visual/link1.stl" />
            </geometry>
            <material name="dark blue" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.075" />
            <mass value="5" />
            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
        </inertial>

    </link>
    <!-- arm1 joint & link -->
    <joint name="arm1_joint" type="revolute">
        <parent link="body_link" />
        <child link="arm1_link" />
        <origin xyz="0 0 0.0706" rpy="0 0 0" />
        <axis xyz="0 0 1" />
        <limit effort="30" lower="-2.88" upper="2.88" velocity="1.5" />
    </joint>
    <link name="arm1_link">
        <collision>
            <origin xyz="0.0 0 0 " rpy=" 0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/collision/link2.stl" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0 " rpy=" 0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/visual/link2.stl" />
            </geometry>
            <material name="gray" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.075" />
            <mass value="0.1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>

    </link>
    <!-- arm2 joint & link -->
    <joint name="arm2_joint" type="revolute">
        <parent link="arm1_link" />
        <child link="arm2_link" />
        <origin xyz="0.03256 0  0.05976" rpy="0 0 0" />
        <axis xyz="1 0 0" />
        <limit effort="30" lower="-2.88" upper="2.88" velocity="1.5" />
    </joint>
    <link name="arm2_link">
        <collision>
            <origin xyz="0.0 0 0 " rpy=" 0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/collision/link3.stl" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0 " rpy=" 0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/visual/link3.stl" />
            </geometry>
            <material name="gray" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.06" />
            <mass value="0.1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>

    </link>
    <!-- arm3 joint & link -->
    <joint name="arm3_joint" type="revolute">
        <parent link="arm2_link" />
        <child link="arm3_link" />
        <origin xyz="0.00272 0 0.1104" rpy="0 0 0" />
        <axis xyz="1 0 0" />
        <limit effort="30" lower="-2.88" upper="2.88" velocity="1.5" />
    </joint>
    <link name="arm3_link">
        <collision>
            <origin xyz="0.0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/collision/link4.stl" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/visual/link4.stl" />
            </geometry>
            <material name="gray" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.06" />
            <mass value="0.1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>

    </link>
    <!-- arm4 joint & link -->
    <joint name="arm4_joint" type="revolute">
        <parent link="arm3_link" />
        <child link="arm4_link" />
        <origin xyz="-0.00164 0 0.096" rpy="0 0 0" />
        <axis xyz="1 0 0" />
        <limit effort="30.0" lower="-2.88" upper="2.88" velocity="1.5" />
    </joint>
    <link name="arm4_link">
        <collision>
            <origin xyz="0.0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/collision/link5.stl" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/visual/link5.stl" />
            </geometry>
            <material name="gray" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.06" />
            <mass value="0.1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>

    </link>
    <!-- arm5 joint & link -->
    <joint name="arm5_joint" type="revolute">
        <parent link="arm4_link" />
        <child link="arm5_link" />
        <origin xyz="0.0288 0 0.02976" rpy="0 0 0" />
        <axis xyz="0 0 1" />
        <limit effort="30" lower="-2.88" upper="2.88" velocity="1.5" />
    </joint>
    <link name="arm5_link">
        <collision>
            <origin xyz="0.0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/collision/link6.stl" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mycobot_description/meshes/stl/visual/link6.stl" />
            </geometry>
            <material name="gray" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.06" />
            <mass value="0.1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>
    </link>

    <!-- arm6 joint & link -->
    <joint name="arm6_joint" type="revolute">
        <parent link="arm5_link" />
        <child link="arm6_link" />
        <origin xyz="0 0.0456 0.03792" rpy="0 0 0" />
        <axis xyz="0 1 0" />
        <limit effort="30" lower="-3.05" upper="3.05" velocity="1.5" />
    </joint>
    <link name="arm6_link">
        <collision>
            <origin xyz="0.0 0 0" rpy="1.57075 0 0" />
            <geometry>
                <cylinder length="0.005" radius="0.02" />
            </geometry>
        </collision>
        <visual>
            <origin xyz="0.0 0 0" rpy="1.57075 0 0" />
            <geometry>
                <cylinder length="0.005" radius="0.02" />
            </geometry>
            <material name="dark blue" />
        </visual>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0.06" />
            <mass value="0.1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>
   </link>

  <!-- gripper joint & link -->
  <joint name="gitpper_joint" type="fixed">
    <axis xyz="0 0 0"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="arm6_link"/>
    <child link="gripper"/>
    <origin xyz= "0 0 0" rpy = "0 0 0 "/>
  </joint>

  <link name="gripper">
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/meshes/dae/gripper.dae" />
      </geometry>
      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
    </visual>
  </link>

<transmission name="trans_arm1_joint">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="arm1_joint">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="arm1_joint_motor">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_arm2_joint">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="arm2_joint">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="arm2_joint_motor">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_arm3_joint">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="arm3_joint">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="arm3_joint_motor">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_arm4_joint">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="arm4_joint">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="arm4_joint_motor">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_arm5_joint">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="arm5_joint">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="arm5_joint_motor">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_arm6_joint">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="arm6_joint">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="arm6_joint_motor">
            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>



<!-- camera joint & link -->


    <link name="camera_link" />

    <joint name="camera" type="fixed">
    <parent link="world" />
    <child link="camera_link" />
    <origin xyz="0.0 0.3 0.4" rpy="0.3 3.14 0"/>
    </joint>




<!-- camera holder joint & link -->

<xacro:include filename="$(find gazebo_sensors_tutorial)/robot/sensors/cam_holder.urdf.xacro"/>

    <joint name="camera_holder_joint" type="fixed">
    <parent link="base_link" />
    <child link="camera_holder_link" />
    <origin xyz="0 -0.50 0" rpy="1.5705 0 0"/>
    </joint>

<link name="camera_holder_link" />

  <xacro:cam_holder name="camera_holder" parent="base_link">
    <origin xyz="0 -0.17 1.0" rpy="0 0 1.5705"/>
  </xacro:cam_holder>




    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>

URDF D-H parameter of Mycobot-pi

Hi !

I downloaded the zip file from this repository, and visualize the .urdf file (mycobot_ros-noetic/mycobot_description/urdf/mycobot_pi/mycobot_urdf.urdf) in my 3D space.

This is the front view of the given Mycobot280-pi.

However, the alignment of links(joint4, joint5) looks weird.

Could you confirm whether it is normal ?

Thank you in advance !

Please do not suggest using `pip install --user` 😬

Howdy! I'm tinkering with the robot now, and having fun!

That being said, things like sudo pip install and pip install --user can wreak havoc on an existing system, and kludge things on your PATH and PYTHONPATH. On multiple instances, I've had to fix things that were borked by shadowing, and/or help colleagues do the same.

I've tried the following with virtualenv, and it seems to work A-OK (think of it working kinda like linking ROS workspaces... but in this case we merge 'em hehe)

sudo apt install python3-virtualenv   # Ubuntu

cd ~/catkin_ws

# Do nominal build
catkin_make -j

# Now overlay w/ virtualenv
python3 -m virtualenv -p python2 --system-site-packages ./devel
./devel/bin/pip install pymycobot

source ./devel/setup.bash
...
python scripts/test.py
# Should still work.
roslaunch mycobot_ros mycobot_simple_gui.launch

elephantrobotics / mycobot_ros Goto Github PK

mycobot_ros's Introduction

mycobot_ros

Installation

Option 1: Docker

Without NVIDIA GPU:

With NVIDIA GPU

Option 2: Local

2.1 Pre-Requriements

2.2 Package Download and Install

2.3 Test Python API

Where to get help

Important Links & Docs

Contributing

Screenshots

URDF Model Graph

Contributors

License

mycobot_ros's People

Contributors

Stargazers

Watchers

Forkers

mycobot_ros's Issues

SUMMARY

Issue Description

Environment

Steps to Reproduce Issue

Expected Behaviour

Actual Behaviour

Comments

console output

spawn_gazebo_model-3.log

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