Closed cosmac closed 2 years ago
Hello Mr. Claudiu,
This is a very helpful post! I am also running into the very same issue. I am going to try following your successful scenario procedure first thing on Monday.
I also wanted to add that this problem does not seem to appear on the tmr_driver
, since I had no issues when running the tmr_moveit_cpp_demo
, that uses that driver. Without launching any driver previously. I just ran the following code:
ros2 launch tmr_moveit_cpp_demo run_moveit_cpp.launch.py robot_ip:=<robot_ip_address>
This will also take care of launching the tmr_driver
, that seems to have extra functionalities compared to tm_driver
. (#6)
Have a good day!
This issue is default DDS of new version Foxy is a little bit different from previous version. So we recommend user other DDS, before we fixed this new issue.
Please refer to this below, use cyclone DDS.
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
If you have further question please let me know.
Hey guys,
I recently installed the tmr_ros2 drivers and experimented with the available demos. All good so far, except that the "set_position" demo does not behave as I would expect. Here is the summary:
Scenario#1 (Successful) Step#1: Run demo (set_positions node)
$ ros2 run demo demo_set_positions
Step#2: Next, run the TM driver$ ros2 run tm_driver tm_driver ip:=192.168.1.92
In this case, as soon as the drivers are online, the request to move the joints is received and executed. The demo script finishes successful:Scenario#2 (service not available) Step#1: Run TM driver
$ ros2 run tm_driver tm_driver ip:=192.168.1.92
Step#2: Next, run demo$ ros2 run demo demo_set_positions
In this case, the demo script never finds the service available and gets stuck in the loop that waits for the service:while (!client->wait_for_service(1s))
From terminal I check that the service exists:My expectation will be that the tm_driver can be run once, before or after the client, while multiple joint positions could be set by running the set_positions demo multiple times. Am I missing something here?
Note: I'm running ROS2 Foxy with the latest tmr_ros2 drivers (at this time)
Thanks!