[Development] Velocities are missing on /iiwa/joint_states

exo-core commented 5 years ago

Hi,

I just noticed that in the latest version the velocities are missing on /iiwa/joint_states. The log below shows the output of rostopic echo /iiwa/joint_states. Initially all values are 0.0 until the ROSSmartServo app ist started on the robot. After that the first couple of messages seem ok, but there are always some in between where velocity is just [].

$ rostopic echo /iiwa/joint_states
header: 
  seq: 2320
  stamp: 
    secs: 1551869777
    nsecs:  10747927
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2321
  stamp: 
    secs: 1551869777
    nsecs:  20739229
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2322
  stamp: 
    secs: 1551869777
    nsecs:  30739562
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2323
  stamp: 
    secs: 1551869777
    nsecs:  40739228
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2324
  stamp: 
    secs: 1551869777
    nsecs:  50739073
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2325
  stamp: 
    secs: 1551869777
    nsecs:  60739370
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2326
  stamp: 
    secs: 1551869777
    nsecs:  70739591
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2327
  stamp: 
    secs: 1551869777
    nsecs:  80739578
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 2328
  stamp: 
    secs: 1551869777
    nsecs:  90739086
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843393623828888, 0.17950302362442017, 0.10104403644800186, -1.5704646110534668, -0.021469883620738983, 1.3988769054412842, 0.18921689689159393]
velocity: [1e-323, 1e-323, 1e-323, -1e-323, -1e-323, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 133085
  stamp: 
    secs: 1551869824
    nsecs: 735000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843399242160721, 0.17950289641581166, 0.10104403357367901, -1.5704647831775231, -0.02146997859971733, 1.3988767482070725, 0.18921688972351974]
velocity: []
effort: [0.3292158203125, 44.17407588958741, -0.1734082145690918, -31.31026460266113, 0.35919296264648437, 0.18556593322753906, -0.06708408737182617]
---
header: 
  seq: 2329
  stamp: 
    secs: 1551869777
    nsecs: 100739149
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843386918306351, 0.17950302362442017, 0.10104391723871231, -1.5704646110534668, -0.021469978615641594, 1.3988769054412842, 0.18921689689159393]
velocity: [-7.962590591899933e-164, 1e-323, -1.4155716607822093e-163, -1e-323, -1.1280336671858226e-163, 1e-323, 1e-323]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---
header: 
  seq: 133086
  stamp: 
    secs: 1551869824
    nsecs: 814000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843387253930422, 0.17950301629811466, 0.10104415334689892, -1.5704647232909132, -0.02146997859971733, 1.3988768680893755, 0.18921706949243272]
velocity: []
effort: [0.3214998245239258, 44.158643898010254, -0.1707197151184082, -31.321018600463866, 0.36183408737182615, 0.18656718826293944, -0.06641658401489257]
---
header: 
  seq: 133087
  stamp: 
    secs: 1551869824
    nsecs: 818000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843387253930422, 0.17950301629811466, 0.10104391369137601, -1.5704646634043031, -0.021470170411402124, 1.3988767482070725, 0.18921688972351974]
velocity: []
effort: [0.30863983154296876, 44.16893189239502, -0.1774409637451172, -31.311608852386474, 0.3583125877380371, 0.18790219497680663, -0.06741783905029297]
---
header: 
  seq: 133088
  stamp: 
    secs: 1551869824
    nsecs: 822000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843399242160721, 0.17950301629811466, 0.10104391369137601, -1.5704646634043031, -0.02146997859971733, 1.3988767482070725, 0.18921706949243272]
velocity: []
effort: [0.3137838287353516, 44.16121589660645, -0.18550646209716798, -31.30085485458374, 0.3583125877380371, 0.18523218154907226, -0.06841909408569335]
---
header: 
  seq: 2330
  stamp: 
    secs: 1551869777
    nsecs: 110738885
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843386918306351, 0.17950288951396942, 0.10104391723871231, -1.5704646110534668, -0.021470073610544205, 1.3988767862319946, 0.18921689689159393]
velocity: [-1.499449560227385e-270, -7.056233224599455e-271, -1.411246644919891e-270, -1e-323, 1.146637898997412e-270, -1e-323, -2.1168699673798445e-270]
effort: [0.3214998245239258, 44.16893005371094, -0.1828179657459259, -31.311609268188477, 0.35831257700920105, 0.18556593358516693, -0.06808534264564514]
---
header: 
  seq: 133089
  stamp: 
    secs: 1551869824
    nsecs: 825000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843423207713012, 0.1795033159493306, 0.10104403357367901, -1.5704645435220002, -0.021469882781141394, 1.3988771077448983, 0.18921676984121677]
velocity: []
effort: [0.2983518371582031, 44.14321190643311, -0.18685071182250976, -31.299510604858398, 0.35303033828735353, 0.18456467819213868, -0.06808534240722657]
---
header: 
  seq: 133090
  stamp: 
    secs: 1551869824
    nsecs: 830000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843441184604309, 0.17950337583594056, 0.10104385380476605, -1.5704644836353903, -0.021470074418293263, 1.3988771677405913, 0.18921653018569384]
velocity: []
effort: [0.30606783294677736, 44.16378789520264, -0.19491621017456054, -31.304887603759767, 0.35126958847045897, 0.18389717483520507, -0.06841909408569335]
---
header: 
  seq: 2331
  stamp: 
    secs: 1551869777
    nsecs: 120738509
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843429386615753, 0.17950332164764404, 0.10104391723871231, -1.5704644918441772, -0.021470073610544205, 1.3988772630691528, 0.18921658396720886]
velocity: [1e-323, 1e-323, -1e-323, 1e-323, -1e-323, 1e-323, -1e-323]
effort: [0.3060678243637085, 44.161216735839844, -0.1989489644765854, -31.291444778442383, 0.3556714653968811, 0.18423092365264893, -0.06875284761190414]
---
header: 
  seq: 133091
  stamp: 
    secs: 1551869824
    nsecs: 836000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.08843453172834609, 0.17950337583594056, 0.10104385380476605, -1.5704643637530873, -0.021470170411402124, 1.3988771677405913, 0.1892164702990839]
velocity: []
effort: [0.3137838287353516, 44.18436388397217, -0.20029320907592774, -31.30085485458374, 0.3565518379211426, 0.18289591979980468, -0.06608283233642578]
---
header: 
  seq: 133092
  stamp: 
    secs: 1551869824
    nsecs: 839000000
  frame_id: ''
name: [iiwa_joint_1, iiwa_joint_2, iiwa_joint_3, iiwa_joint_4, iiwa_joint_5, iiwa_joint_6,
  iiwa_joint_7]
position: [0.088434651501566, 0.17950337583594056, 0.10104385380476605, -1.5704644236396972, -0.021470170411402124, 1.3988773475095044, 0.1892164702990839]
velocity: []
effort: [0.30606783294677736, 44.18950788116455, -0.19626045989990235, -31.303543354034424, 0.3574322128295898, 0.1835634231567383, -0.06675033569335938]

Cheers,

Arne

exo-core commented 5 years ago

Short update:

Due tdo the crash of iiwa_hw that was fixed in 44ca0f55b180817093e7c1ad944644d8606aadf4 I had set publishJointStates to true. However the messages on /iiwa/joint_states do not contain velocity information. After turning it off all messages have velocity data again.
I noticed that the timestamps of joint_state messages are quite differerent depending on whether they are send from Sunrise or from iiwa_hw. I still have to verify if this is also the case if a NTP server is used.
The publisher on /joint_state tends to get stuck sometimes. E.g. I rotated the last joint very slowly for about 300°. In between I had a phase where the joint position being published was the same for quite some time until there was I large jump in the value and I got correct values again.

I am currently waiting to get the image to upgrade our iiwa to Sunrise 1.16. Once it is upgraded I will run some more tests.

exo-core commented 5 years ago

So, after my first tests:

iiwa_stack runs fine with Sunrise 1.16 :smiley: (however I still have the good old JVM Port already in use error when restarting the app)
I had no more issues with stalling joint positions so far

IFL-CAMP / iiwa_stack

[Development] Velocities are missing on /iiwa/joint_states #156