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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
54 stars 28 forks source link

RTC SWITCH turned OFF 0: ano:1 #51

Closed r-ym closed 3 years ago

r-ym commented 3 years ago

Hello,

I have been trying to use MoveIt with my rs007l but every time I run roslaunch khi_robot_bringup rs007l_bringup.launch ip:=<IP address> I get an error message, which I have logged below with terminal output. This may be similar to the earlier issue https://github.com/Kawasaki-Robotics/khi_robot/issues/40

Error Log ```` ``` $roslaunch khi_robot_bringup rs007l_bringup.launch ... logging to /root/.ros/log/bd82e2c4-e860-11eb-bfe1-0242ac110002/roslaunch-d24dc7cf03df-18862.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. xacro: in-order processing became default in ROS Melodic. You can drop the option. started roslaunch server http://d24dc7cf03df:39637/ SUMMARY ======== PARAMETERS * /RS007L/joint_limits/joint1/has_acceleration_limits: True * /RS007L/joint_limits/joint1/has_position_limits: True * /RS007L/joint_limits/joint1/has_velocity_limits: True * /RS007L/joint_limits/joint1/max_acceleration: 5.65050345333 * /RS007L/joint_limits/joint1/max_position: 1.57 * /RS007L/joint_limits/joint1/max_velocity: 6.4577 * /RS007L/joint_limits/joint1/min_position: -1.57 * /RS007L/joint_limits/joint2/has_acceleration_limits: True * /RS007L/joint_limits/joint2/has_position_limits: True * /RS007L/joint_limits/joint2/has_velocity_limits: True * /RS007L/joint_limits/joint2/max_acceleration: 1.80350689372 * /RS007L/joint_limits/joint2/max_position: 2.35619449019 * /RS007L/joint_limits/joint2/max_velocity: 5.4105 * /RS007L/joint_limits/joint2/min_position: -2.35619449019 * /RS007L/joint_limits/joint3/has_acceleration_limits: True * /RS007L/joint_limits/joint3/has_position_limits: True * /RS007L/joint_limits/joint3/has_velocity_limits: True * /RS007L/joint_limits/joint3/max_acceleration: 3.57792496658 * /RS007L/joint_limits/joint3/max_position: 3.49065850399 * /RS007L/joint_limits/joint3/max_velocity: 7.1558 * /RS007L/joint_limits/joint3/min_position: -3.49065850399 * /RS007L/joint_limits/joint4/has_acceleration_limits: True * /RS007L/joint_limits/joint4/has_position_limits: True * /RS007L/joint_limits/joint4/has_velocity_limits: True * /RS007L/joint_limits/joint4/max_acceleration: 23.99827721492 * /RS007L/joint_limits/joint4/max_position: 0.785 * /RS007L/joint_limits/joint4/max_velocity: 9.5992 * /RS007L/joint_limits/joint4/min_position: -0.785 * /RS007L/joint_limits/joint5/has_acceleration_limits: True * /RS007L/joint_limits/joint5/has_position_limits: True * /RS007L/joint_limits/joint5/has_velocity_limits: True * /RS007L/joint_limits/joint5/max_acceleration: 23.99827721492 * /RS007L/joint_limits/joint5/max_position: 0 * /RS007L/joint_limits/joint5/max_velocity: 9.5992 * /RS007L/joint_limits/joint5/min_position: -2.18166156499 * /RS007L/joint_limits/joint6/has_acceleration_limits: True * /RS007L/joint_limits/joint6/has_position_limits: True * /RS007L/joint_limits/joint6/has_velocity_limits: True * /RS007L/joint_limits/joint6/max_acceleration: 13.08996938995 * /RS007L/joint_limits/joint6/max_position: 0.785 * /RS007L/joint_limits/joint6/max_velocity: 17.4532 * /RS007L/joint_limits/joint6/min_position: -0.785 * /cartesian_compliance_controller/compliance_ref_link: tool0 * /cartesian_compliance_controller/end_effector_link: tool0 * /cartesian_compliance_controller/ft_sensor_ref_link: sensor_link_tip * /cartesian_compliance_controller/joints: ['joint1', 'joint... * /cartesian_compliance_controller/pd_gains/rot_x/p: 0.01 * /cartesian_compliance_controller/pd_gains/rot_y/p: 0.01 * /cartesian_compliance_controller/pd_gains/rot_z/p: 0.01 * /cartesian_compliance_controller/pd_gains/trans_x/p: 0.03 * /cartesian_compliance_controller/pd_gains/trans_y/p: 0.03 * /cartesian_compliance_controller/pd_gains/trans_z/p: 0.03 * /cartesian_compliance_controller/robot_base_link: base_link * /cartesian_compliance_controller/stiffness/rot_x: 100 * /cartesian_compliance_controller/stiffness/rot_y: 100 * /cartesian_compliance_controller/stiffness/rot_z: 100 * /cartesian_compliance_controller/stiffness/trans_x: 500 * /cartesian_compliance_controller/stiffness/trans_y: 500 * /cartesian_compliance_controller/stiffness/trans_z: 500 * /cartesian_compliance_controller/target_frame_topic: target_frame * /cartesian_compliance_controller/type: position_controll... * /cartesian_motion_controller/end_effector_link: tool0 * /cartesian_motion_controller/joints: ['joint1', 'joint... * /cartesian_motion_controller/pd_gains/rot_x/p: 1.0 * /cartesian_motion_controller/pd_gains/rot_y/p: 1.0 * /cartesian_motion_controller/pd_gains/rot_z/p: 1.0 * /cartesian_motion_controller/pd_gains/trans_x/p: 2.0 * /cartesian_motion_controller/pd_gains/trans_y/p: 2.0 * /cartesian_motion_controller/pd_gains/trans_z/p: 2.0 * /cartesian_motion_controller/robot_base_link: base_link * /cartesian_motion_controller/solver/error_scale: 10 * /cartesian_motion_controller/solver/iterations: 10 * /cartesian_motion_controller/type: position_controll... * /cartesian_motion_controller_link6/end_effector_link: link6 * /cartesian_motion_controller_link6/joints: ['joint1', 'joint... * /cartesian_motion_controller_link6/pd_gains/rot_x/p: 1.0 * /cartesian_motion_controller_link6/pd_gains/rot_y/p: 1.0 * /cartesian_motion_controller_link6/pd_gains/rot_z/p: 1.0 * /cartesian_motion_controller_link6/pd_gains/trans_x/p: 2.0 * /cartesian_motion_controller_link6/pd_gains/trans_y/p: 2.0 * /cartesian_motion_controller_link6/pd_gains/trans_z/p: 2.0 * /cartesian_motion_controller_link6/robot_base_link: base_link * /cartesian_motion_controller_link6/solver/error_scale: 10 * /cartesian_motion_controller_link6/solver/iterations: 10 * /cartesian_motion_controller_link6/type: position_controll... * /cartesian_motion_controller_tool1/end_effector_link: tool1 * /cartesian_motion_controller_tool1/joints: ['joint1', 'joint... * /cartesian_motion_controller_tool1/pd_gains/rot_x/p: 1.0 * /cartesian_motion_controller_tool1/pd_gains/rot_y/p: 1.0 * /cartesian_motion_controller_tool1/pd_gains/rot_z/p: 1.0 * /cartesian_motion_controller_tool1/pd_gains/trans_x/p: 2.0 * /cartesian_motion_controller_tool1/pd_gains/trans_y/p: 2.0 * /cartesian_motion_controller_tool1/pd_gains/trans_z/p: 2.0 * /cartesian_motion_controller_tool1/robot_base_link: base_link * /cartesian_motion_controller_tool1/solver/error_scale: 10 * /cartesian_motion_controller_tool1/solver/iterations: 10 * /cartesian_motion_controller_tool1/type: position_controll... * /controller_groups/compliance_controllers: ['joint_state_con... * /controller_groups/joint_trajectory_controllers: ['joint_state_con... * /controller_groups/link6_controllers: ['joint_state_con... * /controller_groups/robot_state_controllers: ['joint_state_con... * /controller_groups/tool0_controllers: ['joint_state_con... * /controller_groups/tool0_motion_controllers: ['joint_state_con... * /controller_groups/tool1_controllers: ['joint_state_con... * /hardware_interface/controllers: ['joint_state_con... * /hardware_interface/joints: ['joint1', 'joint... * /joint_state_controller/publish_rate: 500 * /joint_state_controller/type: joint_state_contr... * /khi_robot_param/arm/arm1: ['rs007l_arm_cont... * /khi_robot_param/robot: RS007L * /motion_control_handle/end_effector_link: tool0 * /motion_control_handle/joints: ['joint1', 'joint... * /motion_control_handle/robot_base_link: base_link * /motion_control_handle/target_frame_topic: /cartesian_motion... * /motion_control_handle/type: cartesian_control... * /robot_description: CONNECTING [ INFO] [1626678776.719874455]: [KhiRobotKrnxDriver] Connecting to real controller: 192.168.11.185 No port_*.tbl. KRNX uses default port setting. [WARN] [1626678776.952884]: DEPRECATION warning: --shutdown-timeout has no effect. [INFO] [1626678776.953853]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1626678776.955426]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1626678776.956470]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1626678776.957828]: Loading controller: joint_state_controller Loaded 'rs007l_joint_group_controller' [INFO] [1626678776.961038]: Loading controller: rs007l_arm_controller [INFO] [1626678776.971242]: Controller Spawner: Loaded controllers: joint_state_controller, rs007l_arm_controller [joint_group_controller_manager-6] process has finished cleanly log file: /root/.ros/log/bd82e2c4-e860-11eb-bfe1-0242ac110002/joint_group_controller_manager-6*.log [ INFO] [1626678779.100457508]: [KhiRobotKrnxDriver] State 0: CONNECTING -> INACTIVE [ INFO] [1626678779.100600300]: [KhiRobotKrnxDriver] State 0: INACTIVE -> ACTIVATING [ INFO] [1626678779.100615878]: [KhiRobotCommandService] Start [ INFO] [1626678780.358965439]: [KhiRobotKrnxDriver] State 0: ACTIVATING -> ACTIVE [INFO] [1626678780.361419]: Started controllers: joint_state_controller, rs007l_arm_controller [ERROR] [1626678800.361351228]: [KhiRobotKrnxDriver] krnx_PrimeRtcCompData returned -0x100A [ INFO] [1626678800.361454328]: [KhiRobotKrnxDriver] State 0: ACTIVE -> ERROR [ WARN] [1626678800.361552031]: JT1:-0.095805,-0.095805,0.000000,0.000000,-0.095805,-0.095805 [ WARN] [1626678800.361608894]: JT1:-5.489209,-5.489209,0.000000,0.000000,-5.489209,-5.489209 [ WARN] [1626678800.361715906]: JT2:0.625314,0.625314,0.000000,-0.000070,0.625385,0.625302 [ WARN] [1626678800.361786377]: JT2:35.827880,35.827880,0.000000,-0.004030,35.831910,35.827148 [ WARN] [1626678800.361850002]: JT3:-1.059591,-1.059591,0.000000,0.000132,-1.059723,-1.059310 [ WARN] [1626678800.361916102]: JT3:-60.710082,-60.710082,0.000000,0.007588,-60.717670,-60.694015 [ WARN] [1626678800.361979661]: JT4:-0.053183,-0.053183,0.000000,0.000000,-0.053183,-0.053183 [ WARN] [1626678800.362042381]: JT4:-3.047168,-3.047168,0.000000,0.000000,-3.047168,-3.047168 [ WARN] [1626678800.362111643]: JT5:-0.041945,-0.041945,0.000000,0.000072,-0.042017,-0.041945 [ WARN] [1626678800.362168844]: JT5:-2.403259,-2.403259,0.000000,0.004120,-2.407379,-2.403259 [ WARN] [1626678800.362238197]: JT6:-0.941506,-0.941506,0.000000,0.034908,-0.976414,-0.976412 [ WARN] [1626678800.362298518]: JT6:-53.944318,-53.944318,0.000000,2.000071,-55.944389,-55.944308 [ERROR] [1626678800.362345013]: [KhiRobotKrnxDriver] [krnx_PrimeRtcCompData] ano:1 [jt]pos:vel:status [1]-0.0958:0.0000:0 [2]0.6253:-0.0352:0 [3]-1.0593:0.0662:0 [4]-0.0532:0.0000:0 [5]-0.0419:0.0360:0 [6]-0.9764:17.4539:4 [ERROR] [1626678840.470874782]: [KhiRobotKrnxDriver] RTC SWITCH turned OFF 0: ano:1 [ INFO] [1626678840.470904725]: [KhiRobotKrnxDriver] State 0: ERROR -> DEACTIVATING [ INFO] [1626678840.982626963]: [KhiRobotKrnxDriver] State 0: DEACTIVATING -> INACTIVE ``` ````
d-nakamichi commented 3 years ago

Please follow docs/ConnectingRealRobot.md#3-1-start-the-real-time-control.

After connecting your PC and Robot Controller by Ethernet and putting them into same network, please execute bringup by roslaunch khi_robot_bringup rs007n_bringup.launch ip:=[Controller’s IP address]

r-ym commented 3 years ago

Hello, I did put in the correct IP but turns out the machine at work is the "L" variant and not the "N". Switching the bringups solved the issue. Very sorry for the inconsequential issue. Will be closing it. Thank you very much!