I'm using Ubuntu 20.04 Noetic and want to control E03 (485 end type) with ROS.
However, when I followed the steps from the README.md file, the robot showed in Rviz had different pose from the real robot (all joint values were 0).
Besides, after the roslaunch elfin_robot_bringup elfin_ros_control.launch command, I got the following output:
process[elfin_ros_control-1]: started with pid [11434]
process[elfin_joint_controller_spawner-2]: started with pid [11435]
process[elfin_arm_controller_spawner-3]: started with pid [11436]
Initializing etherCAT master
SOEM found and configured 3 slaves
SOEM IOMap size: 384
Finished configuration successfully
recognizing joint positions, please wait a few minutes ... ...
Failed to read from ret:-2, slave_no:3, index:0x2033, subidx:0x00
The voltage of slave 1 is: 48.109125V.
[ WARN] [1713250622.002562999]: recognizePose phase1 failed while pose recognition in slave 1, channel 1
The voltage of slave 2 is: 48.390899V.
[ WARN] [1713250622.009947134]: recognizePose phase1 failed while pose recognition in slave 2, channel 1
[ INFO] [1713250622.010035864]: positions are recognized automatically
Loaded 'joint_state_controller'
Loaded 'elfin_arm_controller'
Started ['joint_state_controller'] successfully
[elfin_arm_controller_spawner-3] process has finished cleanly
log file: /root/.ros/log/4e9a8ff0-fbbe-11ee-b7fa-59996d2ba316/elfin_arm_controller_spawner-3.log
[elfin_joint_controller_spawner-2] process has finished cleanly
log file: /root/.ros/log/4e9a8ff0-fbbe-11ee-b7fa-59996d2ba316/elfin_joint_controller_spawner-2.log
Looks like there's some problem with slave 3 and the recognizePose thingy. Any suggestions are appreciated. Thank you.
Hello,
I'm using Ubuntu 20.04 Noetic and want to control E03 (485 end type) with ROS. However, when I followed the steps from the README.md file, the robot showed in Rviz had different pose from the real robot (all joint values were 0).
Besides, after the
roslaunch elfin_robot_bringup elfin_ros_control.launchcommand, I got the following output:process[elfin_ros_control-1]: started with pid [11434] process[elfin_joint_controller_spawner-2]: started with pid [11435] process[elfin_arm_controller_spawner-3]: started with pid [11436] Initializing etherCAT master SOEM found and configured 3 slaves SOEM IOMap size: 384 Finished configuration successfully recognizing joint positions, please wait a few minutes ... ... Failed to read from ret:-2, slave_no:3, index:0x2033, subidx:0x00 The voltage of slave 1 is: 48.109125V. [ WARN] [1713250622.002562999]: recognizePose phase1 failed while pose recognition in slave 1, channel 1 The voltage of slave 2 is: 48.390899V. [ WARN] [1713250622.009947134]: recognizePose phase1 failed while pose recognition in slave 2, channel 1 [ INFO] [1713250622.010035864]: positions are recognized automatically Loaded 'joint_state_controller' Loaded 'elfin_arm_controller' Started ['joint_state_controller'] successfully [elfin_arm_controller_spawner-3] process has finished cleanly log file: /root/.ros/log/4e9a8ff0-fbbe-11ee-b7fa-59996d2ba316/elfin_arm_controller_spawner-3.log [elfin_joint_controller_spawner-2] process has finished cleanly log file: /root/.ros/log/4e9a8ff0-fbbe-11ee-b7fa-59996d2ba316/elfin_joint_controller_spawner-2.log
Looks like there's some problem with slave 3 and the recognizePose thingy. Any suggestions are appreciated. Thank you.