Can not jog with real UR3

[Haoran-Zhao]

Hi, I tried to jogging with the real UR3 and Xbox controller. it can be done in the simulation. However, there was no response when I implemented it on a real UR3. I have used the
ur3_jog.yaml.txt file you provided and did the same thing as following:

Damn right, now it's works!

1. In ur3_ros_control need need to stop all controllers, except joint_group_vel_controller. Of course you can do this with rosrun rqt_controller_manager rqt_controller_manager.
2. In my case:

command_out_topic: joint_group_vel_controller/command
command_out_type: std_msgs/Float64MultiArray

and publish only joint velocity.
3. Launch this (obviously with yours right robot_ip):

<?xml version="1.0"?>
<launch>
  <include file="$(find ur_modern_driver)/launch/ur3_ros_control.launch">
    <arg name="robot_ip" value="192.168.102.100"/>
  </include>

  <!-- Launch moveit -->
  <include file="$(find ur3_moveit_config)/launch/move_group.launch">
    <arg name="limited" value="true"/>
  </include>

  <include file="$(find ur3_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

</launch>

And you jog_with_something launch-file.

P.S. Sometimes Rviz falls, but this is a completely different question. Thanks again for the right direction @AndyZe )

There is no connection between joint_group_vel_controller and 'move_group'. I don't know if it's right?

However, the UR3 did not move when I give the command with Xbox controller, and it shows:

[ WARN] [1586885701.872903117]: Stale or zero command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1586885703.880898942]: Stale or zero command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1586885705.888888321]: Stale or zero command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1586885707.896932954]: Stale or zero command. Try a larger 'incoming_command_timeout' parameter?

I changed "incoming_command_timeout" parameter from 0.2 to 10, it always gave me this error.

I rostopic echo /joy, the xbox controller works, the input values can be published to /jog_arm_server/delta_jog_cmds, and there are data in /joint_group_vel_controller/command. However, UR3 has no response.

would you mind give me some suggestions to solve it? Thanks a lot!

[AndyZe]

No connection between joint_group_vel_controller and move_group is OK.

[AndyZe]

Can you do rosservice call controller_manager list_controllers?

If you don't see a joint_group_vel_controller on the list, then the problem lies in your UR setup. Does the repo/branch you're using provide a joint_group_vel_controller?

Check by cd'ing into the UR package, then grep -r joint_group_vel_controller

[AndyZe]

For example, the ur_modern_driver package provides that controller here:

https://github.com/ros-industrial/ur_modern_driver/blob/kinetic-devel/config/ur5_controllers.yaml

[Haoran-Zhao]

@AndyZe Thanks for your apply, I have done the rosservice call controller_manager list_controllers and the joint_group_vel_controller was there. I almost checked all your response related to this topic. However, it still can not drive the ur3.
Maybe it's the version of ubuntu or the ROS-kinetic? I cloned the repository from moveit, but I can not catkin_make it. I think one problem is the Cmake request version is 3.1.3 rather than 2.8.3 on my laptop. I fixed all of them, it still reports an error.
I found a solution to publish the desired joint velocity to the /joint_speed, which solves the problem. But I don't know if this is the right way or it's another approach.