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hans-robot / elfin_robot

ROS meta-package for Elfin robot
http://wiki.ros.org/Robots/Elfin
BSD 3-Clause "New" or "Revised" License
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error in "roslaunch elfin_robot_bringup elfin_ros_control.launch" #4

Closed Tibalt closed 5 years ago

Tibalt commented 6 years ago

Hi, I followed the instructions to start ROS for elfin. But met the following errors after ran "roslaunch elfin_robot_bringup elfin_ros_control.launch". Can anybody help? Thanks in advance!

[ERROR] [1523696551.985592487]: Please set the param /elfin_ros_control/elfin/count_zeros

The whole messages show as follow:


th@th-APQ-E7-series:~/elfin_SOEM$ sudo chrt 10 bash
[sudo] password for th: 
root@th-APQ-E7-series:~/elfin_SOEM# roslaunch elfin_robot_bringup elfin_ros_control.launch
... logging to /home/th/.ros/log/7f9cada4-3fc2-11e8-bca2-ecd68a11016d/roslaunch-th-APQ-E7-series-4355.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://th-APQ-E7-series:44608/

SUMMARY
========

PARAMETERS
 * /elfin_arm_controller/action_monitor_rate: 10
 * /elfin_arm_controller/constraints/goal_time: 0.6
 * /elfin_arm_controller/constraints/stopped_velocity_tolerance: 0.1
 * /elfin_arm_controller/joints: ['elfin_joint1', ...
 * /elfin_arm_controller/state_publish_rate: 25
 * /elfin_arm_controller/stop_trajectory_duration: 0.05
 * /elfin_arm_controller/type: position_controll...
 * /elfin_ros_control/esi_file: elfin_motor.esi
 * /elfin_ros_control/eth_name: eth0
 * /elfin_ros_control/slave_no: [1, 2, 3]
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    elfin_arm_controller_spawner (controller_manager/controller_manager)
    elfin_joint_controller_spawner (controller_manager/controller_manager)
    elfin_ros_control (elfin_ros_control/elfin_hardware_interface)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[elfin_ros_control-1]: started with pid [4375]
process[elfin_joint_controller_spawner-2]: started with pid [4376]
process[elfin_arm_controller_spawner-3]: started with pid [4377]
Initializing etherCAT master
wkc = 4
SOEM found and configured 4 slaves
SOEM IOMap size: 564

Finished configuration successfully
[ERROR] [1523696551.985592487]: Please set the param /elfin_ros_control/elfin/count_zeros
[elfin_ros_control-1] process has finished cleanly
log file: /home/th/.ros/log/7f9cada4-3fc2-11e8-bca2-ecd68a11016d/elfin_ros_control-1*.log
onionsflying commented 6 years ago

Hi, I'm glad to know that you have an elfin robot arm. "count_zeros" is a parameter in the elfin_drivers.yaml file. Please ask the vendor for the file before starting the elfin.