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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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Possible failure of `rmw_uros_sync_session` #68

Open ted-miller opened 1 year ago

ted-miller commented 1 year ago

While working on #61, @SejalBehere noticed that the year was reporting 2022. It turns out the YRC was configured with the wrong date. But, I thought rmw_uros_epoch_nanos was supposed to compensate for that. (The agent PC is set to 2023.)

We'll need to do some more testing later. There are other issues with the YRC in question. Perhaps this is an side effect.

Perhaps we should be checking a return code from rmw_uros_sync_session

https://github.com/Yaskawa-Global/motoros2/blob/9f1c599549ca89fd4323cf47fbd3101dadf2d3d8/src/CommunicationExecutor.c#L201-L201

gavanderhoorn commented 1 year ago

Looking into this a bit, the only values rmw_uros_sync_session(..) can return are OK or ERROR (docs).

It's unclear to me at the moment what we would do if it returns an error.

We could abort everything, but that may be a bit drastic.