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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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Certain group cfgs make JointState output stop working #11

Open ted-miller opened 1 year ago

ted-miller commented 1 year ago

On an R1+R2+S1 system, the /joint_states topic does not publish.

I did check the size of the joint_states message with R1+R2+S1. It was somewhere around 1100 bytes. So I don't think the size of the message is a problem.

Tested R1 S1 S2 S3 for other reasons. It worked ok. So it's not the number of groups. But it's still possible it's the number of axes.

I have not checked yet to verify if the publish API is returning an error code.

ted-miller commented 1 year ago

Additionally, this issue occurs on Foxy, Galactic, and Humble. The ROS2 version is not the reason for this issue.

ted-miller commented 11 months ago

I restored an old CMOS.bin for other reasons.

When trying to run my FJT script, it says that I didn't have velocity data for all axes. Well... scrolling up through the log, I see that all of the joint names are blank.

So now I'm thinking that the JointStates publisher is broken because of the lack of joint-names. CMOS.zip

I will continue debug next week.

gavanderhoorn commented 11 months ago

When trying to run my FJT script, it says that I didn't have velocity data for all axes. Well... scrolling up through the log, I see that all of the joint names are blank.

if you don't configure custom ones, you should get the default ones generated:

https://github.com/Yaskawa-Global/motoros2/blob/6c5614b64f27adc40bff1958b63e1467baeffeae/src/ControllerStatusIO.c#L77-L102

ted-miller commented 11 months ago

Yeah... I just now saw that too. So now I don't know what's up and my system is extra broken.

gavanderhoorn commented 11 months ago

Would you have a sample of the /joint_states topic?

ted-miller commented 11 months ago

/joint_states won't publish. topic echo just freezes until I ctrl-c.

However, I am able to view the topics for each individual control-group, such as /ctrl_groups/r1/joint_states. That works fine.

gavanderhoorn commented 11 months ago

Hm, wireshark? Any XRCE-DDS traffic?

ted-miller commented 11 months ago

Dunno. I'll continue debug next week.

ted-miller commented 11 months ago

The missing velocity-data had nothing to do with this issue. There was an error in my script and it was a legit error.

ted-miller commented 9 months ago

Also occurs on R1+R2+B1+B2