PNOZ safety hardware uses wrong registers + missing modbus_write_api_pnoz.yaml

JonathanGruner commented 4 years ago

Commit

Current one

Steps to reproduce

How can the issue/bug be reproduced?

Connect PNOZ
Download pilz_application_template
Change safety_hw parameter to "pnoz"

Expected behavior

Uses registers 512...515
No further changes necessary

Observed behavior

Uses PSS4000 registers 970...980
You have to make an empty file modbus_write_api_pnoz.yaml in the config folder because of errors when your program tries to read an non existend file

Workaround

Replace the modbus_<read/write>_client_pss4000.yaml with pnoz files to match with pnoz registers
$ sudo touch /opt/ros/melodic/share/prbt_hardware_support/config/modbus_write_api_spec_pnoz.yaml
$ sudo mv /opt/ros/melodic/share/prbt_hardware_support/config/modbus_write_api_spec_pnoz.yaml /opt/ros/melodic/share/prbt_hardware_support/config/modbus_write_api_spec_pss4000.yaml
$ sudo mv /opt/ros/melodic/share/prbt_hardware_support/config/modbus_read_api_spec_pnoz.yaml /opt/ros/melodic/share/prbt_hardware_support/config/modbus_read_api_spec_pss4000.yaml

martiniil commented 4 years ago

Thank you for reporting the issue. The error with the missing file should disappear once you set has_braketest_support:=false. At least this is the intended setup for Pnoz.

martiniil commented 4 years ago

@jschleicher The issue occurs because the filename of the config file is not passed to modbus_client.launch. This is already fixed here: #384

JonathanGruner commented 4 years ago

Thank you for reporting the issue. The error with the missing file should disappear once you set has_braketest_support:=false. At least this is the intended setup for Pnoz.

Thanks for the answer. I checked but the parameter is set to "false", therefore this can't be the reason. If you want I can send you my package.

martiniil commented 4 years ago

Thank you for reporting the issue. The error with the missing file should disappear once you set has_braketest_support:=false. At least this is the intended setup for Pnoz.

Thanks for the answer. I checked but the parameter is set to "false", therefore this can't be the reason. If you want I can send you my package.

Thanks Jonathan. Please post a log of the error. Let's see if this helps.

JonathanGruner commented 4 years ago

roslaunch-rospc-HP-ProBook-650-G5-10296.log

my_application.launch.txt

martiniil commented 4 years ago

Your log shows that the file modbus_read_api_spec_pnoz.yaml is missing. I guess this is due to your workaround, in which this file is renamed. Can you revert your workaround (completely!) and post the log of the original error?

JonathanGruner commented 4 years ago

Ok you are right. Got confused with the errors and reseted the whole config folder into original. Than the error is gone.

martiniil commented 4 years ago

Hi @JonathanGruner , this issue should be fixed right now on the branch melodic-devel. It would be nice if you could validate it.

JonathanGruner commented 4 years ago

Hi, it works with this branch melodic-devel. Tested it with prbt_default_application. I will disassemble my testing cell now and close this request, thank you very much for your effort!

PilzDE / pilz_robots