AttributeError: 'ModbusIOException' object has no attribute 'registers'

Osaka-University-Harada-Laboratory / onrobot

OnRobot packages (https://wiki.ros.org/onrobot)

https://wiki.ros.org/onrobot

MIT License

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AttributeError: 'ModbusIOException' object has no attribute 'registers' #5

Closed Robertomendivil97 closed 1 year ago

Robertomendivil97 commented 1 year ago

Hi, the problem is on my TCP Connection

Error: AttributeError: 'ModbusIOException' object has no attribute 'registers' After trying to run either roslaunch

Python 3.8,10 pymodbus==2.5.3

The computer box is working because I can send data through the web client, so IP are configured correctly Do you know the solution?

Robertomendivil97 commented 1 year ago

Because I am using the Dual quicker changer, the register is 66 (and 67 for second gripper) instead of 65 Changing that it works

Awesome job with this repo!

takuya-ki commented 1 year ago

@Robertomendivil97 Thank you for the investigation! I updated the main branch with launch files and nodes that use a rosparam named changer_addr. If you are interested, please try to use it with your dual quick changer. Please let me know if you have any other suggestions!

Robertomendivil97 commented 1 year ago

Thank you very much for the really quick update! The parameters works and I can chose which tool. Some of the suggestions are:

With the current update I can control one of the grippers but not at the same time, probably other node can be implemented for that. --A nice really feature to have would be the restart power cycle, because if the contact buttons on the end grippers are detected, you need to restart the power cycle from the web client. A ros service could be an option for that.

Excellent job with this ROS package

takuya-ki commented 1 year ago

@Robertomendivil97 Thank you for the suggestion! The problem is that I do not have the dual quick changer now. If possible, could you please update and test it so and then pull request?

Robertomendivil97 commented 1 year ago

Of course This week will continue with the testing and could pull request

BrettRD commented 1 year ago

There's a type error here that could be more informative (I'm working on a ROS2 port for the RG6 on a UR5e and I'm getting a lot of timeouts that trigger this error)

The developer of pymodbus decided that read_holding_registers should return the exception instead of throwing it https://github.com/pymodbus-dev/pymodbus/issues/1464 So you can't do a try catch, you have to test the return type https://github.com/DavidYaonanZhu/robotiq/commit/fbcd1052314574da0e7ed32548db510d84edc42d