kong2983
commented
3 years ago Did the emulator run normally? Try running the DRCF64 DRCF binary file in common2/bin/DRCF. If it runs normally, install the lib-pocodev package and run it again.
Closed jtaveau closed 3 years ago
kong2983
commented
3 years ago Did the emulator run normally? Try running the DRCF64 DRCF binary file in common2/bin/DRCF. If it runs normally, install the lib-pocodev package and run it again.
jtaveau
commented
3 years ago When I run it, I get : (env38) jtaveau@saluyt:~/doosan_ws$ ./src/doosan-robot2/common2/bin/DRCF/DRCF64
Emulator of Doosan Robot Controller [ver M2.52]
[service port = 12345]
[robot model = m1013(config/config.xml)] And if I run run_drcf.sh, I get that :
(env38) jtaveau@saluyt:~/doosan_ws$ ./src/doosan-robot2/common2/bin/DRCF/run_drcf.sh Run Emulator of the Doosan Robot Controller dirname: ./src/doosan-robot2/common2/bin/DRCF/run_drcf.sh server_port: robot model: ARCH: 64-bit
Emulator of Doosan Robot Controller [ver M2.52]
[service port = 12345]
[robot model = m1013(config/config.xml)] Cycle : 0.001000
Xml File Path: config/MF/m1013.xmlXml File Path: config/MF/Group/m1013/DV3101300.xmlXml File Path: config/BV/MF_M1013.xmlConfig Servo#TP RECV: SEQ(1)-COM(1799) SERIAL SEQ-NO: 1#SB RECV: SEQ(1)-COM(1799)
SERIAL SEQ-NO: 10001#SB RECV: SEQ(10001)-COM(1791)
SERIAL SEQ-NO: 10002#SB RECV: SEQ(10002)-COM(1798)
SERIAL SEQ-NO: 10003#SB RECV: SEQ(10003)-COM(1797) Safety Mode: 5, Event: 1
Friction Coeff to DRCLp(1) = 0.000, 0.100, 0.200, 0.300p(2) = 0.100, 0.110, 0.120, 0.130p(3) = 0.200, 0.210, 0.220, 0.230p(4) = 0.300, 0.310, 0.320, 0.330p(5) = 0.400, 0.410, 0.420, 0.430p(6) = 0.500, 0.510, 0.520, 0.530n(1) = 0.000, -0.100, -0.200, -0.300n(2) = -0.100, -0.110, -0.120, -0.130n(3) = -0.200, -0.210, -0.220, -0.230n(4) = -0.300, -0.310, -0.320, -0.330n(5) = -0.400, -0.410, -0.420, -0.430n(6) = -0.500, -0.510, -0.520, -0.530FTS install(0) to DRCLFTS offset(0.000000, 1.000000, 2.000000, 3.000000, 4.000000, 5.000000) to DRCLConfig Robot Shape Config Robot Shape Safety Mode: 5, Event: 2
EtherCAT Operation mode start Key Command : 9 RUN CONTROL : 1
Does it mean it runs normally ? I have already installed libpoco-dev. Which version do you use ?
I used GDB and saw the problem was coming from PocoNet, I tried to install Poco from source, it didn't work because it wasn't the right version. You have to install Poco 1.9.2 and it finally worked, which is the version provided by the apt install libpoco-dev on Ubuntu focal.
Hi, Every time I try to run the dsr_control_node2 with the launch files, I get this error :
I used ros2 launch dsr_control2 dsr_control2.launch.py, instead of the rviz launch to have only this error.
[INFO] [launch]: All log files can be found below /home/jtaveau/.ros/log/2021-06-22-11-03-49-470003-saluyt-247231 [INFO] [launch]: Default logging verbosity is set to INFO /home/jtaveau/moveit2_ws/install/dsr_control2/share/dsr_control2/config/default.yaml [INFO] [dsr_control_node2-1]: process started with pid [247240] [dsr_control_node2-1] [INFO] [1624352629.578406090] [dsr_control_node2]: g_node = 0x0x7fff587a7410 [dsr_control_node2-1] [INFO] [1624352629.578591177] [dsr_control_node2]: rate is 100 [dsr_control_node2-1] [INFO] [1624352629.578703692] [dsr_control_node2]: controller_manager is updating! [dsr_control_node2-1] [INFO] [1624352629.578949447] [dsr_hw_interface2]: name = dsr01 [dsr_control_node2-1] [INFO] [1624352629.578970939] [dsr_hw_interface2]: model = m1013 [dsr_control_node2-1] [INFO] [1624352629.578976680] [dsr_hw_interface2]: gripper = none [dsr_control_node2-1] [INFO] [1624352629.578982193] [dsr_hw_interface2]: name_space is dsr01, m1013
[dsr_control_node2-1] [INFO] [1624352629.648201131] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion [dsr_control_node2-1] [INFO] [1624352629.648250886] [dsr_hw_interface2]: joint_name = joint1 [dsr_control_node2-1] [INFO] [1624352629.648379565] [dsr_hw_interface2]: joint_name = joint2 [dsr_control_node2-1] [INFO] [1624352629.648409293] [dsr_hw_interface2]: joint_name = joint3 [dsr_control_node2-1] [INFO] [1624352629.648426622] [dsr_hw_interface2]: joint_name = joint4 [dsr_control_node2-1] [INFO] [1624352629.649017060] [dsr_hw_interface2]: joint_name = joint5 [dsr_control_node2-1] [INFO] [1624352629.649036958] [dsr_hw_interface2]: joint_name = joint6
[dsr_control_node2-1] [INFO] [1624352629.649058139] [dsr_hw_interface2]: init() ==> arm is standby [dsr_control_node2-1] [INFO] [1624352629.649122038] [dsr_hw_interface2]: host = 127.0.0.1 [dsr_control_node2-1] [INFO] [1624352629.649129870] [dsr_hw_interface2]: port = 12345 [dsr_control_node2-1] [INFO] [1624352629.649134501] [dsr_hw_interface2]: command = 1 [dsr_control_node2-1] [INFO] [1624352629.649138682] [dsr_hw_interface2]: mode = virtual [dsr_control_node2-1] [INFO] [1624352629.649142855] [dsr_hw_interface2]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual [dsr_control_node2-1] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint6Connection refused [dsr_control_node2-1] [ERROR] [1624352629.649930486] [dsr_hw_interface2]: DRHWInterface::init() DRCF connecting ERROR!!! [dsr_control_node2-1] [ERROR] [1624352629.649953211] [dsr_control_node2]: Error initializing robot
[ERROR] [dsr_control_node2-1]: process has died [pid 247240, exit code -11, cmd '/home/jtaveau/moveit2_ws/install/dsr_control2/lib/dsr_control2/dsr_control_node2 --ros-args --params-file /tmp/launch_params_sw2nerns --params-file /tmp/launch_params_d_fnv78q --params-file /tmp/launch_params_tzx9c1k8 --params-file /tmp/launch_params_5imt5lon --params-file /tmp/launch_params_n9gdnyt7 --params-file /tmp/launch_params_5f_3wwyg --params-file /tmp/launch_params_q4vvj7g3 --params-file /tmp/launch_params_0twxt0ha --params-file /tmp/launch_params_b9kz3rvs --params-file /tmp/launch_params_v0x1_gxz'].
Could you help me, please ? I'm using Foxy on Debian Bullseye.