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slvSendFormat Invalid argument value #47

Closed yo4hi6o closed 2 years ago

yo4hi6o commented 2 years ago

Hello,

Currently this error occurs in my environment and roslaunch does not start. Do you know the cause of this error?

[ERROR] [1644898133.732331467]: Invalid argument value (send_format = 0x120)
[ERROR] [1644898133.736452154]: Failed to change to slave mode: 未定義エラーです。 (80070057)
[vs050a3/denso_robot_control-3] process has finished cleanly

Environment

VS050A3-AV6-NNN-NNN RC8-VSA-NNNM-NN-NN　　 Ver 1.5.8

ROS Melodic GitBranch Master

1.Create a description file for VS050A3 using the ROS converter.

2.ROS Tool　I tried to get the speed information using Acquire VelAcc, but an error occurred and I could not get it. Therefore, copy the joint limits file of the VS060 file on Github.

3.License registration of b-cap slave to teaching pendant

Operating procedure

Change the teaching pendant to AUTO mode

roslaunch denso_robot_bringup vs050a3_bringup.launch sim:=false ip_address:=192.168.0.2

After starting roslaunch, the motor will start.

Execution status

yo4hi6o@yo4hi6o:~/denso_ws$ roslaunch denso_robot_bringup vs050a3_bringup.launch sim:=false ip_address:=192.168.0.2
... logging to /home/yo4hi6o/.ros/log/fba5e768-8e14-11ec-993e-54ab3a5cd6b4/roslaunch-yo4hi6o-15450.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://yo4hi6o:44025/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/publish_frequency: 125.0
 * /joint_state_publisher/source_list: ['/vs050a3/joint_...
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/arm/longest_valid_segment_fraction: 0.05
 * /move_group/arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/arm/projection_evaluator: joints(joint_1,jo...
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: []
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/use_controller_manager: True
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_1/max_acceleration: 19.7335651877
 * /robot_description_planning/joint_limits/joint_1/max_velocity: 3.92699081699
 * /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_2/max_acceleration: 16.8446962098
 * /robot_description_planning/joint_limits/joint_2/max_velocity: 2.61799387799
 * /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_3/max_acceleration: 20.7088551737
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 2.85832571599
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 20.9664657713
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 3.92699081699
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 23.722864259
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 3.02168853398
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 33.5103216383
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 6.28318530718
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /rviz_yo4hi6o_15450_5623600324430190867/arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_yo4hi6o_15450_5623600324430190867/arm/kinematics_solver_search_resolution: 0.005
 * /rviz_yo4hi6o_15450_5623600324430190867/arm/kinematics_solver_timeout: 0.005
 * /vs050a3/arm_controller/joints: ['joint_1', 'join...
 * /vs050a3/arm_controller/type: position_controll...
 * /vs050a3/arm_group: 0
 * /vs050a3/bcap_slave_control_cycle_msec: 8
 * /vs050a3/config_file: /home/yo4hi6o/den...
 * /vs050a3/conn_type: tcp
 * /vs050a3/controller_name: 
 * /vs050a3/controller_type: 8
 * /vs050a3/invoke_timeout: 180000
 * /vs050a3/ip_address: 192.168.0.2
 * /vs050a3/joint_1: 1
 * /vs050a3/joint_2: 1
 * /vs050a3/joint_3: 1
 * /vs050a3/joint_4: 1
 * /vs050a3/joint_5: 1
 * /vs050a3/joint_6: 1
 * /vs050a3/joint_state_controller/publish_rate: 125
 * /vs050a3/joint_state_controller/type: joint_state_contr...
 * /vs050a3/port_number: 5007
 * /vs050a3/recv_format: 292
 * /vs050a3/retry_count: 5
 * /vs050a3/robot_joints: 6
 * /vs050a3/robot_name: VS050A3-AV6-NNN-NNN
 * /vs050a3/send_format: 288
 * /vs050a3/timeout: 3000
 * /vs050a3/wait_time: 0
 * /vs050a3/watchdog_timer: 400

NODES
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_yo4hi6o_15450_5623600324430190867 (rviz/rviz)
  /vs050a3/
    controller_spawner (controller_manager/spawner)
    denso_robot_control (denso_robot_control/denso_robot_control)

auto-starting new master
process[master]: started with pid [15467]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fba5e768-8e14-11ec-993e-54ab3a5cd6b4
process[rosout-1]: started with pid [15485]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [15492]
process[vs050a3/denso_robot_control-3]: started with pid [15493]
process[vs050a3/controller_spawner-4]: started with pid [15494]
process[robot_state_publisher-5]: started with pid [15495]
process[move_group-6]: started with pid [15501]
process[rviz_yo4hi6o_15450_5623600324430190867-7]: started with pid [15506]
[ INFO] [1644898132.469110372]: Loading robot model 'vs050a3'...
[ INFO] [1644898132.470352529]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1644898132.570447110]: rviz version 1.13.23
[ INFO] [1644898132.570539901]: compiled against Qt version 5.9.5
[ INFO] [1644898132.570566722]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1644898132.585870064]: Forcing OpenGl version 0.
[ INFO] [1644898132.648919526]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1644898132.653997221]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1644898132.654193245]: Starting planning scene monitor
[ INFO] [1644898132.656493773]: Listening to '/planning_scene'
[ INFO] [1644898132.656637044]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1644898132.658912273]: Listening to '/collision_object'
[ INFO] [1644898132.662624630]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1644898132.678474706]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1644898132.702455682]: Initializing OMPL interface using ROS parameters
[ INFO] [1644898132.719181083]: Using planning interface 'OMPL'
[ INFO] [1644898132.724038618]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1644898132.725250210]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1644898132.725970148]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1644898132.727128274]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1644898132.727569705]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1644898132.728018349]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1644898132.728091070]: Using planning request adapter 'Add Time Optimal Parameterization'
[ INFO] [1644898132.728115361]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1644898132.728136174]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1644898132.728158436]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1644898132.728175384]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1644898132.759050847]: Stereo is NOT SUPPORTED
[ INFO] [1644898132.759170768]: OpenGL device: Mesa DRI Intel(R) HD Graphics 530 (SKL GT2)
[ INFO] [1644898132.759228052]: OpenGl version: 3.0 (GLSL 1.3).
[INFO] [1644898132.894271]: Controller Spawner: Waiting for service controller_manager/load_controller
[ERROR] [1644898133.732331467]: Invalid argument value (send_format = 0x120)
[ERROR] [1644898133.736452154]: Failed to change to slave mode: 未定義エラーです。 (80070057)
[vs050a3/denso_robot_control-3] process has finished cleanly
log file: /home/yo4hi6o/.ros/log/fba5e768-8e14-11ec-993e-54ab3a5cd6b4/vs050a3-denso_robot_control-3*.log
[ INFO] [1644898136.022027993]: Loading robot model 'vs050a3'...
[ INFO] [1644898136.022088662]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1644898136.130906550]: Starting planning scene monitor
[ INFO] [1644898136.133535934]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1644898136.178433875]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1644898137.744554754]: Waiting for arm_controller/follow_joint_trajectory to come up
[ INFO] [1644898141.184602688]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1644898141.184825096]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1644898143.744962090]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1644898149.745265812]: Action client not connected: arm_controller/follow_joint_trajectory
[ INFO] [1644898149.764938504]: Returned 0 controllers in list
[ INFO] [1644898149.801690863]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1644898149.929313343]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1644898149.929385283]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1644898149.929424795]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1644898151.005178974]: Ready to take commands for planning group arm.
[ INFO] [1644898151.005314032]: Looking around: no
[ INFO] [1644898151.005371093]: Replanning: no
^C[rviz_yo4hi6o_15450_5623600324430190867-7] killing on exit
[move_group-6] killing on exit
[robot_state_publisher-5] killing on exit
[vs050a3/controller_spawner-4] killing on exit
[joint_state_publisher-2] killing on exit
[WARN] [1644898158.184648]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

_Originally posted by @yo4hi6o in https://github.com/DENSORobot/denso_robot_ros/issues/29#issuecomment-1039848936_

yo4hi6o commented 2 years ago

Hello,

Probably due to the controller version (1.5.8)?There is a description on the second page of the b-cap communication specification, but it seems that the SlvSendFormat and SlvRecvFormat functions were added on 2013-10-08, Additional features are reflected in later specifications of this controller. Please comment.

ToshitakaSuzuki commented 2 years ago

That is right. Version 1.5.8 was release in 2013-08. Your controller does not support those functions. Please contact customer service for upgrading a controller.

yo4hi6o commented 2 years ago

thank you. We are already in the process of upgrading the version. I will also report the confirmation status after that here.

yo4hi6o commented 2 years ago

Since the problem was solved by upgrading the controller, I will close it.