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DENSORobot / denso_robot_ros

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Run DENSORobot RC8-VP6242 and ROS #3

Closed lacduong closed 6 years ago

lacduong commented 6 years ago

Dear @YoshihiroMIYAKOSHI @gavanderhoorn

I would like to run a real Denso robot from your denso_robot_ros packages.

I have been imported the VP6242_description to the ros_package. It ok when simulating with gazebo.

But when I run with a real robot, It cant run and issue many issues.

This is the list of Errors: (1) ERROR] [1514014457.959615445]: Invalid robot type

(2) [ERROR] [1514014475.056066194]: Action client not connected: vp6242a/arm_controller/follow_joint_trajectory

(3) WARNING

(4) [ERROR] [1514014834.840473065]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ] [ERROR] [1514014834.840529921]: Known controllers and their joints:

I would like to receive your help to fix the errors to run with a real robot.

Thank you very much. Best regards, Lac Duong

lacduong commented 6 years ago

Update: I fixed all above issues, But I occur a problem: Please help me [ERROR] [1514111954.890809277]: Invalid robot type.

May be the reason on My robot name in vp6242a.launch.xml:

param name="robot_name" value="VP-6242 A"

YoshihiroMIYAKOSHI commented 6 years ago

I checked this issue. Our denso_robot_control package checks the robot type. Your launch file expects the robot name is "VP-6242 A", but the robot controller only returns "VP-6242" even if that has the safety option. I fixed the checking robot name function in denso_robot_control, but It will take times to update ROS repositories one. Could you edit your launch file to be enabled connect real robot? before: param name="robot_name" value="VP-6242 A" after: param name="robot_name" value="VP-6242"

lacduong commented 6 years ago

Thank @YoshihiroMIYAKOSHI very much. I already run the real robot with your package!

YoshihiroMIYAKOSHI commented 6 years ago

If this issue already solved, could you close this issue?

mikami235 commented 6 years ago

Dear @lacduong I have the similar problem with " [ERROR] [1514014475.056066194]: Action client not connected: vp6242a/arm_controller/follow_joint_trajectoryyour Error(2)" How did you solve the problem? I tried to use denso package for denso real robot (different from VS060 and VP-6242)

Best regards

lacduong commented 6 years ago

@mikami235

Do you have the error Invalid Robot type? -> if this error: the cause may be the wrong of robot name

Best Duong Van Lac

mikami235 commented 6 years ago

@lacduong I appreciate your quick reply. Yes. I have the error "Invalid robot type" , too, after I renamed both the file name and regarding "vs060_bringup.launch" and files in "vs060_description". And I prepared the configuration file "***.urdf"

However, "invalid robot type" has remain

Should I rename all files including "vs060"?

lacduong commented 6 years ago

@mikami235

Do you use the real robot vs60 or vp6242? You only have to change the robot name in the urdf file. param name="robot_name" value="VP-6242"

Be careful, the real robot and the robot_description need the same. Best,

mikami235 commented 6 years ago

@lacduong I appreciate your advise.

Best regarg.

jshuai commented 6 years ago

Dear YoshihiroMIYAKOSHI Can you share me your URDF about VP6242？ I will be very grateful to you。 Thanks。

lacduong commented 6 years ago

@jshuai For your request email, I would like to send you the VP6242A description. vp6242a_description.zip Best, Duong Van Lac

mikami235 commented 6 years ago

@lacduong I was able to launch "VS-068" by rewriting like the below;

Be careful to input characters after "VS068" because they are depending on controller specification.

Thank you very much

Best regard