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doosan-robotics / doosan-robot2

ROS 2 for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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[ERROR]: handle with interface (joint1: velocity) wasn't found! #20

Closed junghs1040 closed 1 year ago

junghs1040 commented 2 years ago

Hi I got problem like that i follwed all the build documentation and installed poco library too! but problem is not solved.. if i run the example file then the robot moved, is there not have any problem?

$ ros2 launch dsr_launcher2 single_robot_rviz.launch.py model:=a0912 color:=blue [INFO] [launch]: All log files can be found below /home/seok2/.ros/log/2022-07-05-12-40-50-517026-seok2-MS-7D25-204548 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [sh-1]: process started with pid [204551] [INFO] [static_transform_publisher-2]: process started with pid [204554] [INFO] [robot_state_publisher-3]: process started with pid [204557] [INFO] [rviz2-4]: process started with pid [204559] [INFO] [dsr_control_node2-5]: process started with pid [204562] [sh-1] Run Emulator of the Doosan Robot Controller [sh-1] dirname: /home/seok2/ros2_ws/install/common2/share/common2/bin/DRCF/run_drcf.sh [sh-1] server_port: 12345 [sh-1] robot model: a0912 [sh-1] ARCH: 64-bit [static_transform_publisher-2] [INFO]: Spinning until killed publishing transform from 'base' to 'base_0' [robot_state_publisher-3] Parsing robot urdf xml string. [robot_state_publisher-3] Link base_0 had 1 children [robot_state_publisher-3] Link link1 had 1 children [robot_state_publisher-3] Link link2 had 1 children [robot_state_publisher-3] Link link3 had 1 children [robot_state_publisher-3] Link link4 had 1 children [robot_state_publisher-3] Link link5 had 1 children [robot_state_publisher-3] Link link6 had 0 children [robot_state_publisher-3] [INFO]: got segment base_0 [robot_state_publisher-3] [INFO]: got segment link1 [robot_state_publisher-3] [INFO]: got segment link2 [robot_state_publisher-3] [INFO]: got segment link3 [robot_state_publisher-3] [INFO]: got segment link4 [robot_state_publisher-3] [INFO]: got segment link5 [robot_state_publisher-3] [INFO]: got segment link6 [robot_state_publisher-3] [INFO]: got segment world [dsr_control_node2-5] [INFO]: g_node = 0x0x7ffdad121080 [dsr_control_node2-5] [INFO]: rate is 100 [dsr_control_node2-5] [INFO]: controller_manager is updating! [dsr_control_node2-5] [INFO]: name = dsr01 [dsr_control_node2-5] [INFO]: model = a0912 [dsr_control_node2-5] [INFO]: gripper = none [dsr_control_node2-5] [INFO]: name_space is dsr01, a0912

[dsr_control_node2-5] [INFO]: [dsr_hw_interface2] init() ==> setup callback fucntion [dsr_control_node2-5] [INFO]: joint_name = joint1 [dsr_control_node2-5] [WARN]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dsr_control_node2-5] [INFO]: joint_name = joint2 [dsr_control_node2-5] [INFO]: joint_name = joint3 [dsr_control_node2-5] [INFO]: joint_name = joint4 [dsr_control_node2-5] [INFO]: joint_name = joint5 [dsr_control_node2-5] [INFO]: joint_name = joint6

[dsr_control_node2-5] [INFO]: init() ==> arm is standby [dsr_control_node2-5] [INFO]: host = 127.0.0.1 [dsr_control_node2-5] [INFO]: port = 12345 [dsr_control_node2-5] [INFO]: command = 1 [dsr_control_node2-5] [INFO]: mode = virtual [dsr_control_node2-5] [INFO]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual [dsr_control_node2-5] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint6[callback OnMonitoringAccessControlCB] eAccCtrl: 2 [dsr_control_node2-5] access control granted [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY [dsr_control_node2-5] [callback OnTpInitializingCompletedCB] tp initializing completed [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY [dsr_control_node2-5] [INFO]: On Monitor State [dsr_control_node2-5] [INFO]: On Monitor State [dsr_control_node2-5] [callback OnMonitoringAccessControlCB] eAccCtrl: 2 [dsr_control_node2-5] access control granted [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY [dsr_control_node2-5] [INFO]: On Monitor State

[dsr_control_node2-5] [INFO]: Emulator Mode [dsr_control_node2-5] [INFO]: DRCF version = GF120500 [dsr_control_node2-5] [INFO]: DRFL version = GL010110 [dsr_control_node2-5] [INFO]: m_nVersionDRCF = 120500

[dsr_control_node2-5] [INFO]: [init]::read 0-pos: 0.000 [dsr_control_node2-5] [INFO]: [init]::read 1-pos: 0.000 [dsr_control_node2-5] [INFO]: [init]::read 2-pos: 0.000 [dsr_control_node2-5] [INFO]: [init]::read 3-pos: 0.000 [dsr_control_node2-5] [INFO]: [init]::read 4-pos: 0.000 [dsr_control_node2-5] [INFO]: [init]::read 5-pos: 0.000 [dsr_control_node2-5] [WARN]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dsr_control_node2-5] [INFO]: Loading controller 'dsr_joint_publisher' [dsr_control_node2-5] [dsr_control_node2-5] [WARN]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dsr_control_node2-5] [ERROR]: handle with interface (joint1: velocity) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint1: effort) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint2: velocity) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint2: effort) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint3: velocity) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint3: effort) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint4: velocity) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint4: effort) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint5: velocity) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint5: effort) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint6: velocity) wasn't found! [dsr_control_node2-5] [ERROR]: handle with interface (joint6: effort) wasn't found! [dsr_control_node2-5] [WARN]: No transition matching 1 found for current state inactive [dsr_control_node2-5] [ERROR]: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.13/src/rcl_lifecycle.c:350 [dsr_control_node2-5] [INFO]: controller_manager is updating! [rviz2-4] [INFO]: Stereo is NOT SUPPORTED [rviz2-4] [INFO]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-4] [INFO]: Stereo is NOT SUPPORTED [rviz2-4] Parsing robot urdf xml string.

doosan-robotics commented 1 year ago

@junghs1040 Sorry for the late reply. There are currently no velocity and effort controllers in the ROS2 package. If the actual robot moves, there seems to be no problem in use.