ROBOTIS-Will
commented
3 years ago Hi @RoyLeeDongHee
I'm sorry about the delayed response on this issue.
The OpenMANIPULATOR-H has different hardware than OpenMANIPULATOR-P.
Some of the frames and the firmware of DYNAMIXEL Pro series have been updated.
You may try upgrading your Pro series firmware to Pro(A) series firmware via DYNAMIXEL Wizard 2.0 so that the control table structure would become identical to that of P series.
Thank you.
hi. i used open manipulator -H.
i wanna apply moveit according to e-manual in ROBOTIS.
after updated new series about om-pro, i tried to apply the package of om-pro.
but i executed the following command, om-H was not moved to home position using moveit
how to solve this situation? is it problem about mismatch model or setup ?
thx
$ roslaunch open_manipulator_p_control_gui open_manipulator_p_control_gui.launch
[motion planning GUI executed]
...
[ INFO] [1610350672.428915710]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [ INFO] [1610350672.429000253]: Planning attempt 1 of at most 1 [ INFO] [1610350672.429463433]: Planner configuration 'arm[RRTConnect]' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [ INFO] [1610350672.429919628]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.429981662]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.430093843]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.430189299]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.441538663]: arm[RRTConnect]: Created 4 states (2 start + 2 goal) [ INFO] [1610350672.441903927]: arm[RRTConnect]: Created 4 states (2 start + 2 goal) [ INFO] [1610350672.443043005]: arm[RRTConnect]: Created 5 states (2 start + 3 goal) [ INFO] [1610350672.443443416]: arm[RRTConnect]: Created 5 states (2 start + 3 goal) [ INFO] [1610350672.443570076]: ParallelPlan::solve(): Solution found by one or more threads in 0.013798 seconds [ INFO] [1610350672.443824059]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.443927630]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.444156100]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.444963017]: arm[RRTConnect]: Created 5 states (2 start + 3 goal) [ INFO] [1610350672.445198616]: arm[RRTConnect]: Created 4 states (2 start + 2 goal) [ INFO] [1610350672.445333491]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.445559811]: arm[RRTConnect]: Created 5 states (2 start + 3 goal) [ INFO] [1610350672.446518123]: arm[RRTConnect]: Created 5 states (2 start + 3 goal) [ INFO] [1610350672.446751939]: ParallelPlan::solve(): Solution found by one or more threads in 0.002963 seconds [ INFO] [1610350672.447084763]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.447577234]: arm[RRTConnect]: Starting planning with 1 states already in datastructure [ INFO] [1610350672.448517536]: arm[RRTConnect]: Created 5 states (2 start + 3 goal) [ INFO] [1610350672.448814214]: arm[RRTConnect]: Created 4 states (2 start + 2 goal) [ INFO] [1610350672.448989389]: ParallelPlan::solve(): Solution found by one or more threads in 0.002030 seconds [ INFO] [1610350672.454109312]: SimpleSetup: Path simplification took 0.005029 seconds and changed from 3 to 2 states [ WARN] [1610350672.559693854]: Controller arm_controller failed with error code PATH_TOLERANCE_VIOLATED [ WARN] [1610350672.559967923]: Controller handle arm_controller reports status ABORTED [ INFO] [1610350672.560035158]: Completed trajectory execution with status ABORTED ... [ INFO] [1610350672.659199660]: ABORTED: Solution found but controller failed during execution