TheUncivil
commented
11 months ago I've also tried to control the robot with the igus Robot Controller, which works normally.
Open TheUncivil opened 11 months ago
TheUncivil
commented
11 months ago I've also tried to control the robot with the igus Robot Controller, which works normally.
TheUncivil
commented
11 months ago I've attempted to reproduce this on a separate machine, but the system worked normally. This leads me to believe the problem is caused by something else on my computer.
Ultimately, it turns out that the issue was only occurring when I am using CycloneDDS for ROS2. When I don't use CycloneDDS, the system works normally.
Any idea why CycloneDDS would cause this issue?
cpr-fer
commented
11 months ago Hi @TheUncivil ,
thank you for the bug report and already finding the root of the problem yourself! I am not sure why CycloneDDS causes the issue with only the DIO modules, but not the motor modules.
The only differrence between those are the ros2_controllers, where the DIO modules are using their own controller (found in the controllers package of this repo). Still there is nothing special going on in them, the communication over DDS happening there are 2 publishers, one subscriber and one service, all using default settings.
I'll google around a bit and see if other people ran into similar issues with CycloneDDS, until then I'll add a comment in the readme about it. Can you tell me which DDS implementation you are using instead?
Oh and btw, you might want to remove the controllers you are not using from your launch file to get less spam on startup :sweat_smile:
TheUncivil
commented
10 months ago Can you tell me which DDS implementation you are using instead?
I'm currently using the ROS default DDS implementation, which is eProsima Fast DDS according to this page: https://docs.ros.org/en/humble/Concepts/Intermediate/About-Different-Middleware-Vendors.html
Oh and btw, you might want to remove the controllers you are not using from your launch file to get less spam on startup
I am launching too many controllers, yes. I was planning to remove the ones I don't use this week.
cpr-fer
commented
10 months ago I'm currently using the ROS default DDS implementation, which is eProsima Fast DDS according to this page: https://docs.ros.org/en/humble/Concepts/Intermediate/About-Different-Middleware-Vendors.html
Okay that is the same that I've been using the most. I remember also running into some other issues with CycloneDDS at the beginning of the project but don't remember exactly what it was...
Flauriane
commented
1 month ago Hi,
please did anyone face this issues
Your environment
Description
When launching the moveit control interface for the igus ReBel cobot, the system throws many errors, then fails to load the robot description (presumably because it cannot access the robot state). This in turn causes all controllers to fail to launch.
Modules 0x70 and 0x80, which represent the DIO pins for the base and arm respectively, seem to report every error they can report, which makes me think there is something else going on.
I have two ReBel arms available and tried this with both. The issue occurs in both cases
Some parts of the terminal output are shown below. All output was generated in a single attempt to launch; I've simply removed the lines that I didn't think were relevant.