MoveIt Not Moving Doosan A0509 Robot: Debugging

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MoveIt Execution Failure on Doosan A0509: A Debugging Guide

MoveIt Execution Failure on Doosan A0509: A Debugging Guide

Hey guys! I've been wrestling with a frustrating issue while using the MoveIt package to control my real Doosan A0509 robot, and I wanted to share my experience and hopefully help others who might be facing the same problem. The core issue is this: MoveIt says the execution is successful, but the robot doesn't move! Let's dive into the details, the troubleshooting steps, and hopefully, a solution. If you're a robotics enthusiast, this one's for you.

The Problem: MoveIt's Deceptive Success

My setup involves ROS 2 Humble and the MoveIt package, designed to work with my real Doosan A0509 robot. Here's the kicker: The robot's joint positions in RViz correctly reflect the actual joint positions. So far, so good, right? The servo system is ON, indicated by the reassuring click and the blue LED glowing brightly. It's ready to move! However, when I hit the “Execute” button after planning a motion in MoveIt, the interface happily declares “Execution completed successfully.” But the robot… remains stubbornly still. It's like the robot is ignoring the command, even though everything seems to be in order.

This is a common issue, and the challenge lies in pinpointing the disconnect between the MoveIt interface and the robot's physical movement. Let's break down some key areas to investigate.

Key Areas to Investigate

  1. Robot State and Control: This is the most crucial part. Ensure that your robot's ROS drivers and controllers are correctly configured. The drivers should be correctly publishing the joint states, and the controllers should be correctly receiving these states and sending the commands to the robot's hardware interface.
  2. Hardware Interface: The hardware interface is the bridge between MoveIt and your real robot. Confirm that the interface correctly receives the commands from the controller and sends them to the robot.
  3. Controller Configuration: This is crucial. Check the dsr_moveit_controller configuration and ensure the correct topics are being published and subscribed. Double-check that the controller is correctly linked to the robot's hardware interface and that the control mode is set correctly.

Troubleshooting Steps I Tried

  1. Basic Setup Verification: I started with the basics. I made sure my ROS environment was set up correctly, sourcing the correct setup files. This ensures that all the necessary ROS packages and dependencies are available to the system. The launch files need to be correctly configured to start all the nodes necessary for the robot control.
  2. Configuration Files: The configuration files are important. I carefully reviewed the robot's configuration files (URDF, SRDF, and MoveIt configuration files). These files define the robot's structure, kinematics, and collision properties. Verify that these configurations accurately reflect your robot and its environment.
  3. Joint Limits: I checked the joint limits in the configuration files to ensure that the robot's motion planning stays within its operational range. It's important to set correct joint limits to prevent the robot from exceeding its mechanical boundaries.
  4. Launch File Review: I have gone through all launch files. The launch files are used to start the ROS nodes and configure the robot's control. Ensuring that the launch files are correctly configured is a crucial step. Make sure the robot's IP address, model, and other parameters are correctly set in the launch file.
  5. Log Analysis: This is key. I carefully analyzed the ROS logs for any errors or warnings. The logs often contain clues about the root cause of the problem. Look for messages related to the robot's hardware interface, controller configuration, and motion planning.

Reproduction Steps (How to Recreate the Issue)

Here's the sequence I followed to reproduce the issue:

1. source /opt/ros/humble/setup.bash
source ~/ros2_ws/install/setup.bash
ros2 launch dsr_bringup2 dsr_bringup2_moveit.launch.py mode:=real host:=192.168.137.100 model:=a0509
2. plan
3. plan and execute

Relevant Log Output - Deciphering the Clues

The log output is a treasure trove of information, and the key is to interpret it correctly. In my logs, I found a few potential areas to focus on. Some warnings and errors may be related to the robot's model definition and the moveit configuration. Pay close attention to these errors, as they could indicate issues with the robot's description or setup.

  • Controller Loading: Check if the necessary controllers (like dsr_moveit_controller) are loading successfully. The logs should show messages indicating that the controllers are configured and activated.
  • Joint State Broadcasting: Ensure that the joint_state_broadcaster is running and publishing the robot's joint states. The logs should confirm that the broadcaster is loaded and configured correctly.
  • Trajectory Execution: Look for messages related to the execution of the trajectory. These messages will show if the trajectory is being sent to the controller.

Potential Solutions and Further Investigations

Based on my experience and the log output, here are some areas to investigate further:

  1. Controller Configuration: Double-check the configuration of the dsr_moveit_controller. Ensure that the controller is correctly connected to the robot's hardware interface. Also, confirm the control mode is set correctly.
  2. Hardware Interface Issues: There might be an issue with how the MoveIt is communicating with the robot's hardware interface. Try simplifying the control pipeline by removing unnecessary components. The hardware interface receives the commands from the controller and sends them to the robot. Check that the interface is correctly configured and receiving the commands.
  3. Network Connectivity: Ensure a stable network connection between the computer running MoveIt and the robot controller. This is essential for the smooth transmission of commands. Check the network settings, including the IP address, subnet mask, and gateway, to ensure there is no network configuration problem.
  4. Robot Controller Settings: The robot controller itself might have settings that are interfering with the MoveIt commands. Check the controller's safety settings, motion parameters, and other configurations. Check for any safety limits or protection features that might be preventing the robot from moving.
  5. Driver Compatibility: Make sure that the ROS drivers you are using are compatible with your robot's controller version. If there are any updates available, try installing them.

Conclusion: Persistence is Key

Guys, this issue can be very frustrating, but don't give up! Robot control can be tricky. By systematically working through these steps, analyzing the logs, and focusing on the core components – the hardware interface, controller configuration, and network – you'll eventually find the root cause and get your robot moving. I hope this guide helps you in your debugging journey. Feel free to share your experiences and solutions in the comments below. Let's learn together and get those robots dancing!

Remember to replace the example IP address (192.168.137.100) with your actual robot's IP address. Always prioritize safety when working with real robots. Double-check all settings and configurations before executing any motion plans.

Good luck, and happy robot wrangling!