XArm servoing in ROS1 - arm not moving

[Akumar201]

Hi, I am trying to move real xarm with the example pose_tracking_example.cpp . I am trying yo use ROS2 moveit servoing as an example and replicate it in ROS1.
I am following the steps

1. roslaunch xarm6_server.launch launch file
2. roslaunch realMove_exec.launch launch_file
3. roslaunch pose_tracking_example.launch launch_file

My config file for xarm is

###############################################
# Modify all parameters related to servoing here
###############################################
use_gazebo: false # Whether the robot is started in a Gazebo simulation environment

## Properties of incoming commands
command_in_type: "speed_units" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
scale:
  # Scale parameters are only used if command_in_type=="unitless"
  linear:  0.4  # Max linear velocity. Meters per publish_period. Unit is [m/s]. Only used for Cartesian commands.
  rotational:  0.8 # Max angular velocity. Rads per publish_period. Unit is [rad/s]. Only used for Cartesian commands.
  # Max joint angular/linear velocity. Rads or Meters per publish period. Only used for joint commands on joint_command_in_topic.
  joint: 0.5

## Properties of outgoing commands
publish_period: 0.034  # 1/Nominal publish rate [seconds]
low_latency_mode: false  # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)

# What type of topic does your robot driver expect?
# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
command_out_type: trajectory_msgs/JointTrajectory

# What to publish? Can save some bandwidth as most robots only require positions or velocities
publish_joint_positions: true
publish_joint_velocities: false
publish_joint_accelerations: false

## Incoming Joint State properties
low_pass_filter_coeff: 2.0  # Larger --> trust the filtered data more, trust the measurements less.

## MoveIt properties
move_group_name:  xarm6   # rewrite by robot dof
planning_frame: link_base  # The MoveIt planning frame. Often 'base_link' or 'world'

## Other frames
ee_frame_name: link_eef  # The name of the end effector link, used to return the EE pose
robot_link_command_frame:  link_base  # commands must be given in the frame of a robot link. Usually either the base or end effector

## Stopping behaviour
incoming_command_timeout:  0.2  # Stop servoing if X seconds elapse without a new command
# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
# Important because ROS may drop some messages and we need the robot to halt reliably.
num_outgoing_halt_msgs_to_publish: 4

## Configure handling of singularities and joint limits
lower_singularity_threshold:  17.0  # Start decelerating when the condition number hits this (close to singularity)
hard_stop_singularity_threshold: 30.0 # Stop when the condition number hits this
joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.

## Topic names
cartesian_command_in_topic: servo_server/delta_twist_cmds  # Topic for incoming Cartesian twist commands
joint_command_in_topic: servo_server/delta_joint_cmds # Topic for incoming joint angle commands
joint_topic: joint_states
status_topic: servo_server/status # Publish status to this topic
command_out_topic: /xarm6_traj_controller/joint_trajectory # rewrite by robot dof

## Collision checking for the entire robot body
check_collisions: true # Check collisions?
collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
# Two collision check algorithms are available:
# "threshold_distance" begins slowing down when nearer than a specified distance. Good if you want to tune collision thresholds manually.
# "stop_distance" stops if a collision is nearer than the worst-case stopping distance and the distance is decreasing. Requires joint acceleration limits
collision_check_type: threshold_distance
# Parameters for "threshold_distance"-type collision checking
self_collision_proximity_threshold: 0.01 # Start decelerating when a self-collision is this far [m]
scene_collision_proximity_threshold: 0.02 # Start decelerating when a scene collision is this far [m]
# Parameters for "stop_distance"-type collision checking
collision_distance_safety_factor: 1000.0 # Must be >= 1. A large safety factor is recommended to account for latency
min_allowable_collision_distance: 0.01 # Stop if a collision is closer than this [m]

I am getting no error but my arm is not moving. I have doubt as in my rqt graph nodes are different

logs

ROS_MASTER_URI=http://localhost:11311

process[servo_server-1]: started with pid [118350]
[ INFO] [1675711753.067126054]: Loading robot model 'xarm6'...
[ INFO] [1675711753.067553671]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ WARN] [1675711753.123040036]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/xarm6/kinematics_solver_attempts' from your configuration.
[ INFO] [1675711753.256145334]: Starting planning scene monitor
[ INFO] [1675711753.257055383]: Listening to '/planning_scene'
[ INFO] [1675711753.257071430]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1675711753.258011307]: Listening to '/collision_object'
[ INFO] [1675711753.258762298]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1675711753.260321555]: Listening to '/attached_collision_object' for attached collision objects
[ WARN] [1675711753.572837528]: An acceleration limit is not defined for this joint; minimum stop distance should not be used for collision checking
Wohooooooooooooooooooooooooooheader: 
  seq: 0
  stamp: 0.000000000
  frame_id: link_base
child_frame_id: link_base
transform: 
  translation: 
    x: 0
    y: 0
    z: 0
  rotation: 
    x: 0
    y: 0
    z: 0
    w: 1

[ WARN] [1675711753.576346707]: Target control rate was missed
[ INFO] [1675711763.606451720]: Halting servo motion, a stop was requested.
[ INFO] [1675711763.640076905]: Stopping world geometry monitor
[ INFO] [1675711763.640273933]: Stopping planning scene monitor
[servo_server-1] process has finished cleanly
log file: /home/abc/.ros/log/b8daf7f4-a64e-11ed-bccc-2bc902a52063/servo_server-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I also tried printing the current EE transform using the code

`
std::cout << "Wohoooooooooooooooooooooooooo" << current_ee_tf << std::endl;

`
However, it's not getting the pose

header: 
  seq: 0
  stamp: 0.000000000
  frame_id: link_base
child_frame_id: link_base
transform: 
  translation: 
    x: 0
    y: 0
    z: 0
  rotation: 
    x: 0
    y: 0
    z: 0
    w: 1

I am not sure what thing I am missing
Any help would be much appreciated

[vimior]

@Akumar201
pose_tracking_example just provides a routine, and the sending is over.
The command_out_topic configured by moveit_servo is different from that of ROS2, it should be /xarm/xarm6_traj_controller/command

[vimior]

@Akumar201
In the future, we will provide a package similar to xarm_moveit_servo of xarm_ros2 for your reference

[Akumar201]

Hi, Thank you so much for your help. The arm is taking commands now.

command_out_topic: /xarm/xarm6_traj_controller/command # rewrite by robot dof

I am closing this issue as it has been solved. If the problem persists, please comment and the issue will be reopened if appropriate.