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PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS
https://wiki.ros.org/pilz_robots
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Random chars at the end of firmware string #299

Closed agutenkunst closed 4 years ago

agutenkunst commented 4 years ago

Commit

db438915d632097fc1c29a9ebaefad27370f396b

Steps to reproduce

Launch robot with real system

Expected behavior

Firmware of each joint is displayed properly

Observed behavior

Random chars are added to the firmware string

Logfiles

[ INFO] [1578999408.520278926]: Firmware version [prbt_joint_1]: 100 Build:11158 Date:2018-06-07 16:49:55
[ INFO] [1578999408.520434190]: Firmware version [prbt_joint_2]: 100 Build:11158 Date:2018-06-07 16:49:55
[ INFO] [1578999408.520502982]: Firmware version [prbt_joint_3]: 100 Build:11158 Date:2018-06-07 16:49:55u
[ INFO] [1578999408.520559978]: Firmware version [prbt_joint_4]: 100 Build:11158 Date:2018-06-07 16:49:555
[ INFO] [1578999408.520618411]: Firmware version [prbt_joint_5]: 100 Build:11158 Date:2018-06-07 16:49:55E
[ INFO] [1578999408.520675839]: Firmware version [prbt_joint_6]: 100 Build:11158 Date:2018-06-07 16:49:55

Result of command below see candump.log

rosservice call /prbt/driver/get_object "node: 'prbt_joint_1'
object: '100A'
cached: false" 
success: True
message: ''
value: "100 Build:11158 Date:2018-06-07 16:49:55%"
agutenkunst commented 4 years ago

@jschleicher could you provide more objects which are strings? I would like to see if they are all off-by-one, if yes this could be an issue with https://github.com/ros-industrial/ros_canopen if not this is on us.

jschleicher commented 4 years ago

@agutenkunst The version registers 0x1008-0x100A are strings, see https://github.com/PilzDE/pilz_robots/blob/melodic-devel/prbt_support/config/prbt_0_1.dcf (grep for DataType=0x0009).