Open SinaiAranda opened 6 years ago
Hi @sinaiaranda-CIDESI sorry for the late answer I have been a little busy lately. I am sorry to say that we didnt face this problem but we did face a similar issue that I reported on ros-industrial/motoman#209, check the answer from the mantainer, and the pull request he references, this seems to be a problem with Motoman Driver and a controller with more than 3 control groups (just a guess it can be another thing).
So my recommendations would be:
motoman/motoman_driver/src/simple_messages/joint_feedback_ex.cpp
and modify the following function: bool JointFeedbackEx::unload(industrial::byte_array::ByteArray *buffer)
and at the end of the "for" add
if(i != 0){
tmp_msg.init(j_feedback);
this->joint_feedback_messages_.push_back(tmp_msg);
}
(This is a solution posted on this google group )
PS: If you find a solution please don't forget to post it, e need to create a library of issues and information....good luck.
As far as I can see there is no errors in the .yaml conffiguration files and joint naming.
@Danfoa you can show me the roslaunch motoman_csda10f_support robot_interface_streaming_csda10f.launch controller:="dx100" robot_ip:="192.168.255.10" --screen
I have not been able to advance more than this.
Just to comment on this: several issues have been identified when trying to use the current motoman_driver
nodes with robots such as yours.
One side has been fixed (ie: robot->driver), but the other side (driver->robot) has not. This means that receiving robot state should be ok now, but commanding motion needs some work.
I have a few fixes that I can make available to you. If you could test them with your setup, I would be grateful.
I've done some movement tests from Rviz and it seems to work. Of course, I can do it.
Which specific fork/branch are you using?
These are motoman driver, motoman_sda20d and Motoplus v180. I see that already there other new version 1.8.1.
Your motoman_driver
link points to your own repository (sinaiaranda-CIDESI/motoman_sda20d
) and that doesn't contain the actual motoman_driver
package.
I need info on motoman_driver
alone. Exact repository and branch / version.
Sorry, is this https://github.com/sinaiaranda-CIDESI/motoman_driver
Is this a copy of the code in ros-industrial/motoman
?
yes, I loaded it from my computer. The new has some modifications.
Just run with real robot, not on simulation.
It's difficult to see exactly which changes you've made this way. Can you please fork ros-industrial/motoman
, make a branch and upload your changes there?
I do not have changes of ros-industrial/motoman. First I used this modification. After, you told me that motoman_driver kinetic already is correct. This motoman_driver kinetic-devel I used for the real robot without problem just from Rviz. For this roslaunch (simulation) have this problem:
[ WARN] [1530647782.085193845]: Waiting for sda20d/sda20d_r1_controller/joint_trajectory_action to come up [ERROR] [1530647788.085494466]: Action client not connected: sda20d/sda20d_r1_controller/joint_trajectory_action [ WARN] [1530647793.207681309]: Waiting for sda20d/sda20d_b1_controller/joint_trajectory_action to come up [ WARN] [1530647799.207887742]: Waiting for sda20d/sda20d_b1_controller/joint_trajectory_action to come up [ERROR] [1530647805.208096116]: Action client not connected: sda20d/sda20d_b1_controller/joint_trajectory_action [ERROR] [1530647809.413972570]: Unable to connect to move_group action server 'move_group' within allotted time (30s) [ WARN] [1530647810.328533462]: Waiting for sda20d/sda20d_r2_controller/joint_trajectory_action to come up [ WARN] [1530647816.328974007]: Waiting for sda20d/sda20d_r2_controller/joint_trajectory_action to come up [ERROR] [1530647822.329238068]: Action client not connected: sda20d/sda20d_r2_controller/joint_trajectory_action
I am currently on vacations and do not have access to the robot, so I am not able to provide any robot feedback any time soon, Sorry.
I would recommend checking the motoman repository solved issues page and to contact directly motoman support.
I am sorry I cannot be of much help.
Hi, I'm work with Motoman dual robot sda20d, I take your package like reference for my package. I add this configuration, and I run roslaunch and this just run one time and show:
[FATAL] [1525701109.760904112]: ASSERTION FAILED file = /home/sda20/cidesi_robots_ws/src/motoman-indigo-devel/motoman_driver/src/industrial_robot_client/joint_relay_handler.cpp line = 320 cond = all_joint_state.positions.size() == all_joint_names.size()
[joint_state-2] process has died [pid 7228, exit code -5, cmd /home/sda20/cidesi_robots_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/sda20/.ros/log/c9baf556-51fd-11e8-8a16-009a9e9d9347/joint_state-2.log]. log file: /home/sda20/.ros/log/c9baf556-51fd-11e8-8a16-009a9e9d9347/joint_state-2.log*
In joint_states show correctly sda20d/sda20d_r1_controller/join_states, sda20d/sda20d_r2_controller/join_states, sda20d/sda20d_b1_controller/join_states except sda20d/sda20d_b2_controller/join_states (this don't show).
The display of the robot (trough of MotoPlus) show: Controller number of group = 3. State Server Send failure. Closing state server connection. Closing Motion Server Connection. Motion Server Connection Closed.
Any help I would like to thank you.