search

ipa320 / schunk_modular_robotics

www.schunk-modular-robotics.com
Apache License 2.0
56 stars 94 forks source link

controller_switch_problem #165

Closed MiroslavKohut closed 8 years ago

MiroslavKohut commented 8 years ago

Hi

I was using lwa4p manipulator for one month and everything works correctly. I am using peak controller and I also setup arm with moveit and I am planning to use descartes for cartesian path control but yesterday I tried to initialize the arm and I got following error after calling init all from dashboard.

[ INFO] [1462370072.916654384]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting... [ INFO] [1462370076.942933582]: Initializing XXX [ INFO] [1462370076.943194663]: Current state: 1 device error: system:0 internal_error: 0 (OK) [ INFO] [1462370076.943313656]: Current state: 2 device error: system:0 internal_error: 0 (OK) [ INFO] [1462370077.924076854]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting... [ INFO] [1462370082.928755781]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting... [ INFO] [1462370087.940142244]: waitForService: Service [/arm/controller_manager/load_controller] has not been advertised, waiting... [ INFO] [1462370090.046918356]: waitForService: Service [/arm/controller_manager/load_controller] is now available. [ INFO] [1462370090.173969755]: joint_trajectory_controller loaded [ INFO] [1462370090.244010447]: joint_group_position_controller loaded Loaded joint_state_controller [ INFO] [1462370090.313903997]: joint_group_interpol_position_controller loaded Started ['joint_state_controller'] successfully [ INFO] [1462370090.383854288]: joint_group_velocity_controller loaded Slave timeout [arm/arm_controller_spawner-4] process has finished cleanly log file: /home/mirec/.ros/log/b43292d8-11ff-11e6-adb5-ac7ba189beb7/arm-arm_controller_spawner-4*.log Could not switch to mode 7, reason: Mode switch timed out. [ERROR] [1462370095.397488511]: arm_1_jointcould not enter mode 7 [ERROR] [1462370095.397585440]: Could not switch one joint for joint_trajectory_controller, will stop all related joints and the controller. [ INFO] [1462370095.397933967]: Switched Controllers. From no_stop_controller_defined to joint_trajectory_controller [ WARN] [1462370095.397973796]: notify failed [ INFO] [1462370095.405355236]: advertised as /joint_states

Could anyone help me with this issue I did not make any changes in package and neither in my workspace.

Thank you for your help.

MiroslavKohut commented 8 years ago

I am sorry this does not belong here I am adding this issue to ipa320/schunk_robots