UR control via Python ros2 node

[Icon45]

Hi everyone,

I'm trying to control the joints of an ur10 (in Gazebo) via a node. I construct a FollowJointTrajectory.Goal() message and I'm trying to send that via an ActionClient(self, FollowJointTrajectory, "joint_trajectory_controller).

Unfortunately I get stuck when I'm waiting for the server, which I thought wis being spawned when launching the UR. Does anyone know what's going on and wants to help me?

[bmaxdk]

Can you see the action server?

$ ros2 action list

If action server name is shown as you provided by the UR10's joint trajotry controller, the name include the namespace such as /ur10/joint_trajectory_controller/follow_joint_trajectory should be provided.

For python for action server should be similar to:

import actionlib
from control_msgs.msg import FollowJointTrajectory, FollowJointTrajectoryGoal

client = actionlib.SimpleActionClient('joint_trajectory_controller/follow_joint_trajectory', FollowJointTrajectory)
client.wait_for_server()

goal = FollowJointTrajectoryGoal()
client.send_goal(goal)
client.wait_for_result()