Control of GP8 with 1 external axis (b1)

ivanrulik commented 2 weeks ago

Setup:

External Computer:

Ubuntu 22.04 LTS Running ROS2 Humble

Robot:

YRC1000micro (YBS4.11.00A)
GP8 + external axis (b1) on the Y axis
MotoROS2 0.1.2
Attached is the modified yaml file that includes the external axis (without it I'll get errors when running motoros2)

Software:

I followed the steps from https://github.com/YaskawaEurope/ros2-starter-for-yaskawa-robots readme.md and related repos to install the project
I followed the attached PDF to run the project with the real robot

Issue:

I'm trying to control the setup mentioned above and so far I'm able to enable the robot and see its position feedback on RViz but nothing more. This means it doesn't respond to any move it commands (xy_start.launch.py).

Extra details:

Here is the output of the /yaskawa/joint_states topic:

header:
  stamp:
    sec: 1718722834
    nanosec: 700522311
  frame_id: ''
name:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
- b1_axis
position:
- -0.018152105989980086
- 0.08016008354694902
- -0.026250246232693036
- -0.05207353447942457
- -0.06960437825031096
- -0.03863378886412683
- -0.00673828125
velocity:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
effort:
- 0.10094
- -0.15217999999999998
- 0.18367899999999998
- 0.0063999999999999994
- 0.019264
- -0.003935999999999999
- -0.012298
---

motoros2_config.zip Move.Robot.via.MoveIt.pdf

yeu-geissdoerfer commented 2 weeks ago

Are you using the single_arm_with_ext_axis INFORM Job (https://github.com/Yaskawa-Global/motoros2/tree/main?tab=readme-ov-file#example-inform-jobs)?

ivanrulik commented 2 weeks ago

I'm not using any specific job as mentioned in that same section:

These jobs are not required. The INFORM job will be automatically generated at startup. These are only provided for convenience to show the required commands if a custom job is required.

I think that by having the modified yaml file mentioned above it will be enough to see and control the external axis from the Linux computer.

Also I was able to control the GP8 + external axis by doing a small modification to this ROS2 node. But this doesn't do any inverse kinematics.

So now I can tell it works doing small modifications but I'm guessing the moveit package needs to be updated following this steps if I want the rest of this project to work. I would appreciate any advice or assistance with this. I have tried to configure the new MoveIt setup in the past for a Moto Mini, but I did not get satisfactory results.

YaskawaEurope / ros2-starter-for-yaskawa-robots