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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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Unsupported API version when executing braketest #453

Closed davideferrari95 closed 4 years ago

davideferrari95 commented 4 years ago

Hi,

when I call the service /prbt/execute_braketest I get the following error:

[ INFO] [1601382594.843207051]: Enter hold for braketest. Do not unhold the controller!
[ INFO] [1601382595.044024192]: Braketest required for: prbt_joint_1
[ INFO] [1601382595.045300437]: Braketest required for: prbt_joint_2
[ INFO] [1601382595.045332951]: Braketest required for: prbt_joint_3
[ INFO] [1601382595.045358857]: Braketest required for: prbt_joint_4
[ INFO] [1601382595.045391244]: Braketest required for: prbt_joint_5
[ INFO] [1601382595.045416617]: Braketest required for: prbt_joint_6
[ INFO] [1601382595.045455726]: Call "brake test duration" service for "prbt_joint_1"
[ INFO] [1601382595.049086832]: Brake test duration for node "prbt_joint_1" is: 2500ms
[ INFO] [1601382595.049137498]: Call "brake test duration" service for "prbt_joint_2"
[ INFO] [1601382595.052275624]: Brake test duration for node "prbt_joint_2" is: 2500ms
[ INFO] [1601382595.052325742]: Call "brake test duration" service for "prbt_joint_3"
[ INFO] [1601382595.055426869]: Brake test duration for node "prbt_joint_3" is: 2500ms
[ INFO] [1601382595.055478340]: Call "brake test duration" service for "prbt_joint_4"
[ INFO] [1601382595.059105577]: Brake test duration for node "prbt_joint_4" is: 2500ms
[ INFO] [1601382595.059158446]: Call "brake test duration" service for "prbt_joint_5"
[ INFO] [1601382595.062427150]: Brake test duration for node "prbt_joint_5" is: 2500ms
[ INFO] [1601382595.062496211]: Call "brake test duration" service for "prbt_joint_6"
[ INFO] [1601382595.065664124]: Brake test duration for node "prbt_joint_6" is: 2500ms
[ INFO] [1601382595.065718855]: Perform brake test for node "prbt_joint_1"...
[ INFO] [1601382595.065756738]: Call "trigger brake test" service for "prbt_joint_1"
[ INFO] [1601382595.069106449]: Perform brake test for node "prbt_joint_2"...
[ INFO] [1601382595.069147248]: Call "trigger brake test" service for "prbt_joint_2"
[ INFO] [1601382595.072309735]: Perform brake test for node "prbt_joint_3"...
[ INFO] [1601382595.072356291]: Call "trigger brake test" service for "prbt_joint_3"
[ INFO] [1601382595.075486578]: Perform brake test for node "prbt_joint_4"...
[ INFO] [1601382595.075532580]: Call "trigger brake test" service for "prbt_joint_4"
[ INFO] [1601382595.079095670]: Perform brake test for node "prbt_joint_5"...
[ INFO] [1601382595.079161797]: Call "trigger brake test" service for "prbt_joint_5"
[ INFO] [1601382595.082782077]: Perform brake test for node "prbt_joint_6"...
[ INFO] [1601382595.082833987]: Call "trigger brake test" service for "prbt_joint_6"
[ INFO] [1601382597.085820179]: Call "get status brake test" service for "prbt_joint_1"
[ INFO] [1601382597.088944869]: Call "get status brake test" service for "prbt_joint_2"
[ INFO] [1601382597.092135877]: Call "get status brake test" service for "prbt_joint_3"
[ INFO] [1601382597.095331498]: Call "get status brake test" service for "prbt_joint_4"
[ INFO] [1601382597.099190134]: Call "get status brake test" service for "prbt_joint_5"
[ INFO] [1601382597.102567438]: Call "get status brake test" service for "prbt_joint_6"
[ INFO] [1601382597.105922069]: Brake test result: 1
[ERROR] [1601382597.147364534]: Received Modbus message of unsupported API Version: 2, required Version: 3
Can not determine from Modbus message if brake-test is required.
[ERROR] [1601382597.147362598]: Received Modbus message of unsupported API Version: 2, required Version: 3
Can not determine OperationMode from Modbus message.
[ERROR] [1601382597.147370892]: Received Modbus message of unsupported API Version: 2, required Version: 3

I'm using the last commit version in master branch.

jschleicher commented 4 years ago

@davideferrari95 Please contact techsupport to get the current version of the PSS4000 program.