From 25ffbbca2d74a44b24389a88805c8d15f9fd080f Mon Sep 17 00:00:00 2001 From: Dev <91839547+devvaibhav455@users.noreply.github.com> Date: Tue, 4 Jul 2023 14:15:48 -0400 Subject: [PATCH] Update realtime_servo_tutorial.rst (#791) * Update realtime_servo_tutorial.rst Although, the code suggests to clone the old version of UR's repo but it does not clearly mention it in words. I did not clone the old version because I already had the latest version and the tutorial didn't work for me for now obvious reasons. So, I am adding a note in bold so that no one else does the same mistake as mine and don't waste 2 days like me. I also added a debug tip to see when one should expect the tutorial to work. * Update doc/realtime_servo/realtime_servo_tutorial.rst As suggested, removed the commit link from which this information was obtained. Co-authored-by: AndyZe * Update realtime_servo_tutorial.rst added more clarification to the bebug tips * Whitespace fixup * Whitespace fixup * Whitespace fixup * Controller comment update * Format --------- Co-authored-by: AndyZe --- doc/realtime_servo/realtime_servo_tutorial.rst | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/doc/realtime_servo/realtime_servo_tutorial.rst b/doc/realtime_servo/realtime_servo_tutorial.rst index c1220d9cf..43f7c41d5 100644 --- a/doc/realtime_servo/realtime_servo_tutorial.rst +++ b/doc/realtime_servo/realtime_servo_tutorial.rst @@ -17,7 +17,10 @@ Getting Started --------------- This tutorial demonstrates the servo node with a UR5 Gazebo simulation. If you haven't already done so, make sure you've completed the steps in `Getting Started <../getting_started/getting_started.html>`_. -Clone `universal_robot melodic-devel branch `_ into the same catkin workspace from `Getting Started`: :: +Clone `universal_robot melodic-devel branch `_ into the same catkin workspace from `Getting Started`: + +**NOTE: Please stick to older version of Universal Robot Github (1.2.7 ) as newer versions (1.3.x) are incompatible with the servo tutorial.** +:: cd ~/ws_moveit/src @@ -126,3 +129,7 @@ There is a Python integration test in ``test/integration``. Run it by: roscd moveit_servo catkin run_tests --this + +Debug Tips +--------------- +Do run either ``rosservice call /controller_manager/list_controllers`` or ``rosrun controller_manager controller_manager list``. For moveit_servo to be working, ``joint_group_position_controller`` or ``joint_group_velocity_controller`` should be ``running``.