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TechmanRobotInc / tmr_ros2

TM Robots supporting ROS2 drivers and some extended external applications. (experimental) (not support the new TM S-Series)
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TM5-900 responsed script error when using velocity mode #30

Open selina4715 opened 1 year ago

selina4715 commented 1 year ago

Hi! I'm an engineering student from Taiwan. Sorry that the issue is not exactly a "ROS issue". I tried to use Listen node in TMFlow connected to a Windows PC (QT 5.12.11) I used the codes in tm_driver not including anything related to ROS. (e.g. tm_command.cpp, tm_communication.cpp)

I can successfully connect the PC and TM robot, read the state of the robot, and send PTP/PVT commands to the robot. But I received the response of script error when I tried to start the velocity mode (using the function std::string TmCommand::set_vel_mode_start(VelMode mode, double timeout_zero_vel, double timeout_stop) in tm_command.cpp.

messageImage_1684468447637 The blue-circled one is the script I send to the robot, and the red-circled one is the response I received.

What should I do to fix it?