Robot doesn't move with full speed when using the TM Driver

[comalakl]

Hi there,

I'm using the TM Driver to control a TM12 through my MoveIt program. when running `ros2 run tm_driver tm_driver ip:=192.168.10.32 and my programm I get the following output in the console:

[INFO] [1663692060.594125524] [rclcpp]: Ethernet slave communication: TmSvrCommunication
[INFO] [1663692060.594260415] [rclcpp]: Listen node communication: TmSctCommunication
[INFO] [1663692060.606127565] [rclcpp]: Ethernet slave communication: start
[INFO] [1663692060.606174556] [rclcpp]: TM_COM: ip:=192.168.10.32
[INFO] [1663692060.606579033] [rclcpp]: TM_COM(Ethernet slave communication): TM robot is connected. sockfd:=16
[INFO] [1663692060.606680892] [rclcpp]: TM_ROS: get data thread begin
[INFO] [1663692060.607713786] [rclcpp]: Listen node communication: start
[INFO] [1663692060.607979472] [rclcpp]: TM_COM(listen node communication): TM robot is connected. sockfd:=17
[INFO] [1663692060.658378036] [rclcpp]: TM_ROS: sct_response thread begin
[INFO] [1663692060.660714473] [rclcpp]: $TMSTA,3,00,,*6c

[INFO] [1663692060.670506355] [rclcpp]: TM_ROS: (TM_STA): res: (00): true,Listen1
[INFO] [1663692060.670575730] [rclcpp]: TM_ROS: On listen node.
[INFO] [1663692060.723423909] [rclcpp]: TM Flow DataTable Checked Item: 
[INFO] [1663692060.723844098] [rclcpp]: Total 47 item,47 checked, 0 skipped
[INFO] [1663692060.723917114] [rclcpp]: data table is correct!
[WARN] [1663692075.584816071] [rclcpp]: package length not valid
[WARN] [1663692084.207495805] [rclcpp]: package length not valid
[WARN] [1663692100.640405551] [rclcpp]: package length not valid
[WARN] [1663692103.452206899] [rclcpp]: package length not valid
[INFO] [1663692104.632777865] [rclcpp]: Received new action goal a82b956cf686602773b925164638514
[INFO] [1663692104.633250821] [rclcpp]: TM_ROS: trajectory thread begin
[INFO] [1663692104.633391290] [rclcpp]: TM_ROS: traj. total time:= 5
[INFO] [1663692104.634202746] [rclcpp]: TM_DRV: send script (pvt traj.):

[INFO] [1663692104.634337829] [rclcpp]: PVTEnter(0)
PVTPoint(0.56400,8.06582,91.69776,-90.08883,4.14021,2.17507,-0.03552,-0.51300,-0.10809,5.72958,5.46063,-0.13814,0.10000)
PVTPoint(0.55867,7.98887,91.68154,-89.22940,4.95930,2.15435,-0.07104,-1.02601,-0.21618,11.45916,10.92126,-0.27629,0.1000
[INFO] [1663692104.634770301] [rclcpp]: $TMSCT,6757,PvtTraj,PVTEnter(0)
PVTPoint(0.56400,8.06582,91.69776,-90.08883,4.14021,2.17507,-0.03552,-0.51300,-0.10809,5.72958,5.46063,-0.13814,0.10000)
PVTPoint(0.55867,7.98887,91.68154,-89.22940,4.95930,2.15435,-0.07104,-1.02601,-0.21618,11.45916,10.9
[INFO] [1663692104.894403254] [rclcpp]: TM_ROS: (TM_SCT): MSG: (PvtTraj): OK
[INFO] [1663692109.968671177] [rclcpp]: TM_DRV: traj. exec. time:= 5.335
[WARN] [1663692109.968710527] [rclcpp]: Current pose doesn't match Goal point
[INFO] [1663692109.968862326] [rclcpp]: TM_ROS: trajectory thread end
[WARN] [1663692112.762078605] [rclcpp]: package length not valid

The error persists when using the moveit_cpp_demo.

Here, the trajectory execution time is calculated as 5s but it takes at least 10s. The speed tops at around 300 mm/s, but all settings allow a speed of 1500 mm/s (which is reached when only using TMFlow). 

Given the robot has not arrived at the goal after the calculated time, it sends a failure to my program. Nonetheless, the robot finishes the motion. 

Using Ubuntu 20.04.4 LTS and ROS2 Foxy

[TechmanRobotIncOwner]

Hi TM user,

For your question, you need to set up the project speed up to "100%" in TMflow, after that, the robot will accomplish the moving speed you design in ROS 2 Movit.

Best regards, Jared Lin

[mehradmrt]

@comalakl It has been long time but did you manage to change the speed of the arm when using moveit2? Using the built-in demo package (no moveit) the speed is adjustable but using tm_moveit_cpp_demo package it moves very slow and the speed is not adjustable. I wonder if this is a bug or the moveit trajectory planner settings need to be modified? Have been stuck here for a while...

@TechmanRobotIncOwner "you need to set up the project speed up to "100%" in TMflow" as mentioned above did not resolve the issue.

Thanks