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doosan-robotics / doosan-robot

ROS for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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No message recieved when using dsr_moveit node #200

Closed GigabyteZX1 closed 2 months ago

GigabyteZX1 commented 2 months ago

Hi, I've been trying to set up my real Doosan M1013 bot with Ros. The issue I am facing is that when I use

roslaunch dsr_launcher single_robot_rviz.launch model:=m1012 mode:=real host:=192.168.137.100 port:=12345

Rviz launches and I can see the bot in the Rviz with proper joint states as the actual one. But if I use image

roslaunch dsr_launcher dsr_moveit.launch host:=192.168.137.100 port:=12345 mode:=real model:=m1013

Then Rviz launches and I can see a bot model with all joints in a straight line configuration and a Rviz marker for setting and planning a path using Moveit. image But here, if I were to echo the dsr01m1013/joint_states topic, it does not return anything. But it does in the case of using single_robot_rviz.launch. image Also if I were to try to do path planning, it plans the path but fails to execute it and shows this error output in cmd prompt

image

I want to ask if I have to make any changes in the launch files or If there is an issue with the bot connection, I have checked that the Teach pendant shows control transfer successful and I can ping the bot. So connection is not the issue. Any help in this issue will be appreciated.

GigabyteZX1 commented 2 months ago

Had to reinstall the ubuntu and rebuilt the whole workspace. Then it started working as expected