How to define Package Name arg

[gjmm07]

Hi,

after completing the installation, I tried to run the example from this video.

ros2 run ros2srrc_execution sequence.py --ros-args -p PROGRAM_FILENAME:="ur3" -p ROBOT_MODEL:="ur3" -p EE_MODEL:="robotiq_2f85" -p GzBr_ENV:="gazebo"

I am receiving this error:

Please execute the program and input all ROS2 parameters in the Ubuntu Terminal as stated below:
COMMAND -> ros2 run ros2srrc_execution sequence.py --ros-args -p PACKAGE_NAME:= "---" -p PROGRAM_FILENAME:="---" -p ROBOT_MODEL:="---" -p EE_MODEL:="---" -p GzBr_ENV:="---"

I'm guessing I have to add the "PACKAGE_NAME" arg. But what options do I have?

There are no options for "PACKAGE_NAME" in the readme

Thanks in advance.

[NilsHeidemann]

Try 'ros2srrc_execution' as the package name. This is the place where the program 'ur3' lies

[gjmm07]

Thanks for your answer. This seems to work. What else do I need to launch to start the action server? Something like:
ros2 launch ros2srrc_ur3_gazebo

[NilsHeidemann]

There were some changes to the launch files and I dont know exactly what the launch command should look like because Im using an older version.
But I looked into the new files and you can try this:
For a real robot: ros2 launch ros2srrc_launch bringup_ur.launch.py
For a simulation: ros2 launch ros2srrc_launch simulation.launch.py

[gjmm07]

Thanks for your help. I am now able to launch a robot simulation using:
ros2 launch ros2srrc_launch simulation.launch.py package:="ros2srrc_ur3" config:="ur3_2" Gazebo opens as expected, but when trying to
ros2 action send_goal -f /Move ros2srrc_data/action/Move "{action: 'MoveL', movel: {x: 0.00, y: 0.00, z: 0.00}, speed: 1.0}"
I am still getting "Waiting for action server to become available"

[gjmm07]

What does work though is:
ros2 launch ros2srrc_launch moveit2.launch.py package:="ros2srrc_ur3" config:="ur3_2" (which also launches gazebo)
and
ros2 action send_goal -f /Move ros2srrc_data/action/Move "{action: 'MoveJ', movej: {joint1: 10.00, joint2: 0.00, joint3: 0.00, joint4: 0.00, joint5: 0.00, joint6: 0.00}, speed: 1.0}
which does the job for me.

[MikelBueno]

Hi,
I have just updated all the README.md files and uploaded instructions and documentation with all the newest features. Please have a look at those, and feel free to send a message if something doesn't work.
Thanks!
Mikel