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Fail to connect real controller (80000909) #9

Closed flyinskybtx closed 3 years ago

flyinskybtx commented 5 years ago

I've been working around this problem for three days, and continue trying to figure out the solution. After struggled into the docs and code of b-Cap and ORiN, i decided to post the problem here, instead of answers.ros.org, because I think this problem is more a b-Cap connection problem than ROS problem.

The error occurs when I run the tutorial according to: http://wiki.ros.org/denso_robot_ros/Tutorials/How%20to%20control%20an%20RC8%20with%20MoveIt%21 and the real controller cannot be connected, and raise the following issue: [ERROR] [1546830111.567536479]: Failed to connect real controller. (80000909)

the ros params are using the project default, as: ` * /robot_description: <robot name="vs06...

In addition, when I test b-cap using b-cap test, the UDP connection throws the same 80000909 packet size error, but when I switch to TCP, the connection process is fine. However, when I modify the launch file bcap_service.launch.xml to set to TCP, and rosparams are changed, the connection still throws the 80000909 error. I dont know if the launch really uses the TCP connection.

And here is my question, what could possibly cause this error? How can I define the UDP packet size? could python2.7 be compatible with the b-cap service?

UPDATE: I think I have found a way to overcome this problem. I now can use moveit to remote control the VS060 robot.

  1. I am using the TCP mode
  2. I have altered some of my RC8 settings.

I think there are something need to be modified to the tutorial, so that when other people look into this program, they wont spend so much time to bringup as i had. On the other hand, I do have learned a lot about my robot through this work.

  1. I think TCP mode should be prefered as default, because it is more stable through b-cap_test
  2. I think the launch file, especially the denso_ros_control.launch should be more specific in which is to load params and which to be really launched. I think the .launch and .launch.xml is somehow confusing to the users.
  3. Another RC8 setting need to be mentioned, that No.37 'Program Prioriy Mode set when starting ' in VRC settings should be set to 'Disable'. To the worst, some Denso Manuals, as the one I used before, VARIES from the TP, I think this worth mentioning.
  4. The error code 80000909 doesnt reflect the real error.
  5. Need to check if the python version b-cap is compatible with python 2.7

Thanks for your program anyway, being able to connect my VS060 to ROS is really useful

YoshihiroMIYAKOSHI commented 5 years ago

Sorry for my late reply. I found a bug, which cause the 80000909 error, in denso_robot_core. The 80000909 error will happen when there are many programs in RC8.

I will fix this bug soon, but I think it will take times to update ROS repository's one.

flyinskybtx commented 5 years ago

Sorry for my late reply. I found a bug, which cause the 80000909 error, in denso_robot_core. The 80000909 error will happen when there are many programs in RC8.

I will fix this bug soon, but I think it will take times to update ROS repository's one.

Thanks for your reply!

Yes, after I have cleared all my RC8 programs (which not tool many though), I have been able to control the vs060 in b-caps mode.

looking forward to your updates

great jobs by the way, really helped me out! :)

ToshitakaSuzuki commented 5 years ago

@flyinskybtx We fixed this bug and updated repositories.

allenwoods commented 5 years ago

@YoshihiroMIYAKOSHI May I ask which PR or commit fixed this bug?

ToshitakaSuzuki commented 5 years ago

@allenwoods This one. #11

allenwoods commented 5 years ago

I see. Thank you 😁