Closed ted-miller closed 9 months ago
Tested and working
msbuild
CI is failing due to something I introduced in #158.
I'll add a commit to this PR to fix it.
Edit: I fixed it in #164.
Actually: could you try rebasing on main
@ted-miller?
ignore that.
Ok. Now I think it'll work
I've rebased this branch to include the fix from #164.
I can't test this right now, but you have.
@ted-miller: could you maybe describe how you tested it?
Using my FJT script, I duplicated the first axis joint name on the second axis. When I run the script, the robot returns the 214 error code with the error message. The robot did not attempt to move.
Using my FJT script, I duplicated the first axis joint name on the second axis. When I run the script, the robot returns the 214 error code with the error message. The robot did not attempt to move.
might want to check also with a joint at index != 0
.
Tested again:
'group_1/joint_1',
'group_1/joint_2',
'group_1/joint_3',
'group_1/joint_4',
'group_1/joint_5',
'group_1/joint_6',
'group_2/joint_1',
'group_2/joint_2',
**'group_1/joint_3'**,
'group_2/joint_4',
'group_2/joint_5',
'group_2/joint_6',
'group_3/joint_1'
Client:
control_msgs.action.FollowJointTrajectory_Result(error_code=-100214, error_string='The trajectory contains duplicate joint names.')
Debug Log:
[1696258937.30257201] [192.168.1.32:58802]: 2023-10-02 15:02:17.301923 Trajectory contains 61 points
[1696258937.30277658] [192.168.1.32:58802]: 2023-10-02 15:02:17.302123 Joint name [group_1/joint_3] is used for multiple joints in the trajectory (indices: 2 and 8).
[1696258937.30299282] [192.168.1.32:58802]: 2023-10-02 15:02:17.302323 FollowJointTrajectory - Goal request rejected
[1696258937.30308771] [192.168.1.32:58802]: 2023-10-02 15:02:17.302323 The trajectory will be accepted and then immediately aborted
[1696258937.30314612] [192.168.1.32:58802]: 2023-10-02 15:02:17.302323 The trajectory contains duplicate joint names.
off-topic, but: what's up with the output of your debug logger?
It's not supposed to look like that any more since #129 and some older PRs.
I've got an old copy of the script in my home directory for convenience. I just haven't updated on my ubuntu machine.
You could use a symlink and place it in $HOME/bin
. That would avoid the copy and always keep it up-to-date.
Fixes #28 Not yet tested due to https://github.com/Yaskawa-Global/micro_ros_motoplus/issues/132