Moveit not working with UR10 about zerosimrosunity HOT 18 OPEN

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

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

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

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

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

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

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

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

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

5. Fixup the mesh paths

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

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

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

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@ptiwari0664 & @tejasps28

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

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@ptiwari0664 & @tejasps28

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

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

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

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

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

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

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

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

And in the Docker I'm getting:

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

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

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

And in the Docker I'm getting:

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

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

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

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

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

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

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

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

Yes, i tried this! It seems to work perfectly fine! Thank you @ptiwari0664 @micahpearlman

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Fantastic! I will put in a fix for this ASAP.

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