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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/
Apache License 2.0
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CK_COMPOUND_RETURN_ERROR #173

Closed SUUHOLEE closed 1 month ago

SUUHOLEE commented 1 month ago

Hi mhubii,

Until yesterday, I was able to operate the robot well. (POSITION_CONTROL - POSITION & terminal: ros2 launch lbr_bringup bringup.launch.py model:=med14 sim:=false moveit:=true)

However, today when I try to communicate with the robot, I'm experiencing CK_COMPOUND_RETURN_ERROR as shown in the picture of the SMART PAD below.

KakaoTalk_20240513_233208300

Do you happen to know under what circumstances this ERROR occurs?

Thank you

mhubii commented 1 month ago

sometimes this means that the brake test was not executed, could that be? By the way, you can already test the dev-humble-launch branch if you'd like. This branch should work much better and only documentation is missing so it is ready for use.

SUUHOLEE commented 1 month ago

It seems like you didn't quite understand it accurately. Could you please explain a bit more in detail?

mhubii commented 1 month ago

did you execute the brake test?

SUUHOLEE commented 1 month ago

No, I haven't tested the brakes yet. I don't know exactly how to do it.

mhubii commented 1 month ago

okay no problem. Select:

Applications -> BrakeTestMonitorS...

Run the test as you run the LBRServer. Careful, when the test is finished, the robot will execute a sample motion.

mhubii commented 1 month ago

This is unrelated to your problem, but could you re-install the lbr-stack following these instructions:

https://github.com/lbr-stack/lbr_fri_ros2_stack#quick-start

SUUHOLEE commented 1 month ago

We are currently undergoing a brake test. Is it normal for the A1 joint to continuously move left and right?

Do I have to quit it midway? Or do I have to wait until it ends?

mhubii commented 1 month ago

this test will move each joint left right, from A1 to A7. You have to press and hold play if you are in test mode

when the test is over, the robot will start a left / right motion, so be a bit careful there.

Let me know once you re-installed the lbr-stack therefore

SUUHOLEE commented 1 month ago

I reinstalled according to quick-start.

Can I end the break test and try connecting to the robot again?

mhubii commented 1 month ago

yes so when the robot starts the motion, the brake test is finished. You can just stop it. Sorry for the confusion!

SUUHOLEE commented 1 month ago

LBRServer Select the desired FRI send period [ms] : 5 Select your remote IP address : 192.170.10.5 Select the desired FRI control mode : POSITION_CONTROL Select the desired FRI client command mode : POSITION -> terminal : ros2 launch lbr_bringup bringup.launch.py model:=med14 sim:=false rviz:=true moveit:=true

but same error occuired the first picture.

mhubii commented 1 month ago

when you go to Station -> Safety -> Status

what can you see?

SUUHOLEE commented 1 month ago

State : Warning Time : ~

Safety Control Position sensor not referenced (K1:A1, A2, A3, A4, A5, A6, A7). These are deactivated rows in the PSM configurations.

mhubii commented 1 month ago

what version of the FRI are you running and what did you install on the robot controller? I am just confused that it worked yesterday

maybe try restart the system

SUUHOLEE commented 1 month ago

KakaoTalk_20240514_020303435

this is robot controller version??

yes, rotot was worked well yesterday :( I also very confused why robot don't connect labtop

mhubii commented 1 month ago

looks good to me. I would suggest a restart see if the error persists

SUUHOLEE commented 1 month ago

Does restart mean to turn the robot off and on again?

If so, I think I did it at least 5 times.

mhubii commented 1 month ago

hm okay

mhubii commented 1 month ago

maybe you are somehow using the wrong version of the FRI. Did you specify 1.15 when you build this project?

SUUHOLEE commented 1 month ago

https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/152#issuecomment-1924424184

Probably so. I am using the code above with some modifications.

mhubii commented 1 month ago

but the driver doesn't even connect right?

SUUHOLEE commented 1 month ago

Yes, it doesn't seem to be able to connect in the first place. It seems like an error occurs from ros2 bring up ~ .

mhubii commented 1 month ago

have you tried running the raw FRI?

SUUHOLEE commented 1 month ago

how to running raw FRI?

SUUHOLEE commented 1 month ago

suho@suho:~/lbr-stack3$ ros2 launch lbr_bringup bringup.launch.py model:=med14 sim:=false rviz:=true moveit:=true [INFO] [launch]: All log files can be found below /home/suho/.ros/log/2024-05-14-02-30-16-275628-suho-18406 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ros2_control_node-1]: process started with pid [18408] [INFO] [static_transform_publisher-2]: process started with pid [18410] [INFO] [move_group-3]: process started with pid [18412] [INFO] [spawner-4]: process started with pid [18414] [INFO] [spawner-5]: process started with pid [18416] [INFO] [spawner-6]: process started with pid [18418] [INFO] [spawner-7]: process started with pid [18420] [static_transform_publisher-2] [INFO] [1715621416.827391994] [static_transform_publisher_qQc4a9bmBimOE1qE]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.000000') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'world' to 'lbr/world' [ros2_control_node-1] [WARN] [1715621416.885057154] [lbr.controller_manager]: [Deprecated] Passing the robot description parameter directly to the control_manager node is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead. [ros2_control_node-1] [INFO] [1715621416.885884393] [resource_manager]: Loading hardware 'lbr_system_interface' [ros2_control_node-1] [INFO] [1715621416.892627664] [resource_manager]: Initialize hardware 'lbr_system_interface' [ros2_control_node-1] [INFO] [1715621416.892824800] [lbr_fri_ros2::AsyncClient]: Configuring client. [ros2_control_node-1] [INFO] [1715621416.892839274] [lbr_fri_ros2::AsyncClient]: Command guard variant: 'default'. [ros2_control_node-1] [INFO] [1715621416.892852058] [lbr_fri_ros2::CommandGuard]: Parameters: [ros2_control_node-1] [INFO] [1715621416.892861489] [lbr_fri_ros2::CommandGuard]: Joint A1 limits: Position: [-170.0, 170.0] deg, velocity: 85.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892878676] [lbr_fri_ros2::CommandGuard]: Joint A2 limits: Position: [-120.0, 120.0] deg, velocity: 85.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892891875] [lbr_fri_ros2::CommandGuard]: Joint A3 limits: Position: [-170.0, 170.0] deg, velocity: 100.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892904667] [lbr_fri_ros2::CommandGuard]: Joint A4 limits: Position: [-120.0, 120.0] deg, velocity: 75.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892917404] [lbr_fri_ros2::CommandGuard]: Joint A5 limits: Position: [-170.0, 170.0] deg, velocity: 130.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892929877] [lbr_fri_ros2::CommandGuard]: Joint A6 limits: Position: [-120.0, 120.0] deg, velocity: 135.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892943138] [lbr_fri_ros2::CommandGuard]: Joint A7 limits: Position: [-175.0, 175.0] deg, velocity: 135.0 deg/s, torque: 200.0 Nm [ros2_control_node-1] [INFO] [1715621416.892956714] [lbr_fri_ros2::CommandInterface]: ** Parameters: [ros2_control_node-1] [INFO] [1715621416.892964801] [lbr_fri_ros2::CommandInterface]: pid.p: 1.0 [ros2_control_node-1] [INFO] [1715621416.892973524] [lbr_fri_ros2::CommandInterface]: pid.i: 0.0 [ros2_control_node-1] [INFO] [1715621416.892981818] [lbr_fri_ros2::CommandInterface]: pid.d: 0.0 [ros2_control_node-1] [INFO] [1715621416.892989932] [lbr_fri_ros2::CommandInterface]: pid.i_max: 0.0 [ros2_control_node-1] [INFO] [1715621416.892998237] [lbr_fri_ros2::CommandInterface]: pid.i_min: 0.0 [ros2_control_node-1] [INFO] [1715621416.893006182] [lbr_fri_ros2::CommandInterface]: pid.antiwindup: false [ros2_control_node-1] [INFO] [1715621416.893017069] [lbr_fri_ros2::StateInterface]: Parameters: [ros2_control_node-1] [INFO] [1715621416.893024606] [lbr_fri_ros2::StateInterface]: external_torque_cutoff_frequency: 10.0 Hz [ros2_control_node-1] [INFO] [1715621416.893033723] [lbr_fri_ros2::StateInterface]: measured_torque_cutoff_frequency: 10.0 Hz [ros2_control_node-1] [INFO] [1715621416.893041935] [lbr_fri_ros2::AsyncClient]: Open loop: 'true'. [ros2_control_node-1] [INFO] [1715621416.893050106] [lbr_fri_ros2::AsyncClient]: Client configured. [ros2_control_node-1] [INFO] [1715621416.899799450] [resource_manager]: Successful initialization of hardware 'lbr_system_interface' [ros2_control_node-1] [WARN] [1715621416.900048072] [lbr.controller_manager]: [Deprecated]: Automatic activation of all hardware components will not be supported in the future anymore. Use hardware_spawner instead. [ros2_control_node-1] [INFO] [1715621416.900109661] [resource_manager]: 'configure' hardware 'lbr_system_interface'

[ros2_control_node-1] [INFO] [1715621416.900163230] [resource_manager]: 'activate' hardware 'lbr_system_interface' [ros2_control_node-1] [INFO] [1715621416.900180582] [lbr_fri_ros2::App]: Opening UDP socket with port_id 30200. [ros2_control_node-1] [INFO] [1715621416.900217494] [lbr_fri_ros2::App]: Socket opened successfully. [ros2_control_node-1] [INFO] [1715621416.900327469] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [1/10]. Port ID: 30200. [ros2_control_node-1] [WARN] [1715621416.900421204] [lbr_fri_ros2::App]: Realtime kernel recommended but not required. [ros2_control_node-1] [INFO] [1715621416.900447952] [lbr_fri_ros2::App]: Starting run thread. [move_group-3] [INFO] [1715621416.901618782] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00881315 seconds [move_group-3] [INFO] [1715621416.901717716] [moveit_robot_model.robot_model]: Loading robot model 'med14'... [move_group-3] [INFO] [1715621416.901737714] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [ros2_control_node-1] [INFO] [1715621417.900456413] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [2/10]. Port ID: 30200. [move_group-3] [INFO] [1715621417.906904184] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene' [move_group-3] [INFO] [1715621417.907112301] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states [move_group-3] [INFO] [1715621417.907997358] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states' [move_group-3] [INFO] [1715621417.908526115] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/attached_collision_object' for attached collision objects [move_group-3] [INFO] [1715621417.908583538] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [move_group-3] [INFO] [1715621417.909001412] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/lbr/planning_scene' [move_group-3] [INFO] [1715621417.909021234] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [move_group-3] [INFO] [1715621417.909535769] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object' [move_group-3] [INFO] [1715621417.909937021] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry [move_group-3] [WARN] [1715621417.911631082] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead [move_group-3] [ERROR] [1715621417.911653515] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates [move_group-3] [INFO] [1715621418.513670811] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl' [move_group-3] [INFO] [1715621418.530712203] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL' [move_group-3] [INFO] [1715621418.535763731] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.path_tolerance' was not set. Using default value: 0.100000 [move_group-3] [INFO] [1715621418.535777150] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.resample_dt' was not set. Using default value: 0.100000 [move_group-3] [INFO] [1715621418.535781656] [moveit_ros.add_time_optimal_parameterization]: Param 'ompl.min_angle_change' was not set. Using default value: 0.001000 [move_group-3] [INFO] [1715621418.535826258] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000 [move_group-3] [INFO] [1715621418.535840675] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000 [move_group-3] [INFO] [1715621418.535845753] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-3] [INFO] [1715621418.535856070] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000 [move_group-3] [INFO] [1715621418.535861212] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000 [move_group-3] [INFO] [1715621418.535872261] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100 [move_group-3] [INFO] [1715621418.535883196] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Optimal Parameterization' [move_group-3] [INFO] [1715621418.535889254] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links' [move_group-3] [INFO] [1715621418.535892688] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds' [move_group-3] [INFO] [1715621418.535896075] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds' [move_group-3] [INFO] [1715621418.535899207] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision' [move_group-3] [INFO] [1715621418.535902399] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints' [move_group-3] [INFO] [1715621418.573734737] [moveit.plugins.moveit_simple_controller_manager]: Added FollowJointTrajectory controller for joint_trajectory_controller [move_group-3] [INFO] [1715621418.573949612] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1715621418.573987261] [moveit.plugins.moveit_simple_controller_manager]: Returned 1 controllers in list [move_group-3] [INFO] [1715621418.574467683] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers [move_group-3] [INFO] [1715621418.574510060] [move_group.move_group]: MoveGroup debug mode is ON [move_group-3] [INFO] [1715621418.596444347] [move_group.move_group]: [move_group-3] [move_group-3] **** [move_group-3] MoveGroup using: [move_group-3] - ApplyPlanningSceneService [move_group-3] - ClearOctomapService [move_group-3] - CartesianPathService [move_group-3] - ExecuteTrajectoryAction [move_group-3] - GetPlanningSceneService [move_group-3] - KinematicsService [move_group-3] - MoveAction [move_group-3] - MotionPlanService [move_group-3] - QueryPlannersService [move_group-3] * - StateValidationService [move_group-3] **** [move_group-3] [move_group-3] [INFO] [1715621418.596503985] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [move_group-3] [INFO] [1715621418.596521826] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete [move_group-3] Loading 'move_group/ApplyPlanningSceneService'... [move_group-3] Loading 'move_group/ClearOctomapService'... [move_group-3] Loading 'move_group/MoveGroupCartesianPathService'... [move_group-3] Loading 'move_group/MoveGroupExecuteTrajectoryAction'... [move_group-3] Loading 'move_group/MoveGroupGetPlanningSceneService'... [move_group-3] Loading 'move_group/MoveGroupKinematicsService'... [move_group-3] Loading 'move_group/MoveGroupMoveAction'... [move_group-3] Loading 'move_group/MoveGroupPlanService'... [move_group-3] Loading 'move_group/MoveGroupQueryPlannersService'... [move_group-3] Loading 'move_group/MoveGroupStateValidationService'... [move_group-3] [move_group-3] You can start planning now! [move_group-3] [ros2_control_node-1] [INFO] [1715621418.900941272] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [3/10]. Port ID: 30200. [spawner-6] [INFO] [1715621419.560178280] [lbr.spawner_lbr_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-7] [INFO] [1715621419.563423959] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' services to be available [spawner-5] [INFO] [1715621419.596731017] [lbr.spawner_force_torque_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-4] [INFO] [1715621419.669998368] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [ros2_control_node-1] [INFO] [1715621419.901726295] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [4/10]. Port ID: 30200. [ros2_control_node-1] [INFO] [1715621420.902732391] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [5/10]. Port ID: 30200. [spawner-6] [INFO] [1715621421.584253431] [lbr.spawner_lbr_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-7] [INFO] [1715621421.584727950] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' services to be available [spawner-5] [INFO] [1715621421.620548070] [lbr.spawner_force_torque_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-4] [INFO] [1715621421.694241683] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [ros2_control_node-1] [INFO] [1715621421.903606100] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [6/10]. Port ID: 30200. [ros2_control_node-1] [INFO] [1715621422.904279804] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [7/10]. Port ID: 30200. [spawner-6] [INFO] [1715621423.609621818] [lbr.spawner_lbr_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-7] [INFO] [1715621423.609616134] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' services to be available [spawner-5] [INFO] [1715621423.646819579] [lbr.spawner_force_torque_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-4] [INFO] [1715621423.719952653] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [ros2_control_node-1] [INFO] [1715621423.904777082] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [8/10]. Port ID: 30200. [ros2_control_node-1] [INFO] [1715621424.905444119] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [9/10]. Port ID: 30200. [spawner-6] [INFO] [1715621425.635844627] [lbr.spawner_lbr_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-7] [INFO] [1715621425.635840440] [lbr.spawner_joint_trajectory_controller]: Waiting for '/lbr/controller_manager' services to be available [spawner-5] [INFO] [1715621425.673063912] [lbr.spawner_force_torque_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [spawner-4] [INFO] [1715621425.747412014] [lbr.spawner_joint_state_broadcaster]: Waiting for '/lbr/controller_manager' services to be available [ros2_control_node-1] [INFO] [1715621425.905714484] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [10/10]. Port ID: 30200. [ros2_control_node-1] [INFO] [1715621426.906269699] [lbr_fri_ros2::App]: Closing UDP socket. [ros2_control_node-1] [INFO] [1715621426.906372902] [lbr_fri_ros2::App]: Socket closed successfully. [ros2_control_node-1] [ERROR] [1715621426.906439787] [lbr_ros2_control::SystemInterface]: Failed to connect to robot on max attempts. [ros2_control_node-1] [INFO] [1715621426.906495687] [resource_manager]: Failed to 'activate' hardware 'lbr_system_interface' [ros2_control_node-1] [INFO] [1715621426.916892044] [lbr.controller_manager]: update rate is 100 Hz [ros2_control_node-1] [INFO] [1715621426.917154676] [lbr.controller_manager]: RT kernel is recommended for better performance [ros2_control_node-1] [INFO] [1715621426.973824461] [lbr.controller_manager]: Loading controller 'joint_state_broadcaster' [spawner-4] [INFO] [1715621426.988192024] [lbr.spawner_joint_state_broadcaster]: Loaded joint_state_broadcaster [ros2_control_node-1] [INFO] [1715621426.989378571] [lbr.controller_manager]: Configuring controller 'joint_state_broadcaster' [ros2_control_node-1] [INFO] [1715621426.989506301] [lbr.joint_state_broadcaster]: 'joints' or 'interfaces' parameter is empty. All available state interfaces will be published [spawner-4] [INFO] [1715621427.018469904] [lbr.spawner_joint_state_broadcaster]: Configured and activated joint_state_broadcaster [ros2_control_node-1] [INFO] [1715621427.063698851] [lbr.controller_manager]: Loading controller 'lbr_state_broadcaster' [spawner-6] [INFO] [1715621427.078656693] [lbr.spawner_lbr_state_broadcaster]: Loaded lbr_state_broadcaster [ros2_control_node-1] [INFO] [1715621427.079500389] [lbr.controller_manager]: Loading controller 'joint_trajectory_controller' [ros2_control_node-1] [WARN] [1715621427.095584672] [lbr.joint_trajectory_controller]: [Deprecated]: "allow_nonzero_velocity_at_trajectory_end" is set to true. The default behavior will change to false. [ros2_control_node-1] [INFO] [1715621427.097618797] [lbr.controller_manager]: Configuring controller 'lbr_state_broadcaster' [spawner-7] [INFO] [1715621427.098629328] [lbr.spawner_joint_trajectory_controller]: Loaded joint_trajectory_controller [ros2_control_node-1] [INFO] [1715621427.107801559] [lbr.controller_manager]: Configuring controller 'joint_trajectory_controller' [ros2_control_node-1] [INFO] [1715621427.108102229] [lbr.joint_trajectory_controller]: No specific joint names are used for command interfaces. Using 'joints' parameter. [ros2_control_node-1] [INFO] [1715621427.108142523] [lbr.joint_trajectory_controller]: Command interfaces are [position] and state interfaces are [position velocity]. [ros2_control_node-1] [INFO] [1715621427.108164970] [lbr.joint_trajectory_controller]: Using 'splines' interpolation method. [ros2_control_node-1] [INFO] [1715621427.109495798] [lbr.joint_trajectory_controller]: Controller state will be published at 50.00 Hz. [ros2_control_node-1] [INFO] [1715621427.111348440] [lbr.joint_trajectory_controller]: Action status changes will be monitored at 20.00 Hz. [ros2_control_node-1] [INFO] [1715621427.117688536] [lbr.controller_manager]: Loading controller 'force_torque_broadcaster' [spawner-5] [INFO] [1715621427.138601843] [lbr.spawner_force_torque_broadcaster]: Loaded force_torque_broadcaster [ros2_control_node-1] [INFO] [1715621427.157796635] [lbr.controller_manager]: Configuring controller 'force_torque_broadcaster' [spawner-6] [INFO] [1715621427.158888676] [lbr.spawner_lbr_state_broadcaster]: Configured and activated lbr_state_broadcaster [INFO] [spawner-4]: process has finished cleanly [pid 18414] [spawner-7] [INFO] [1715621427.188617204] [lbr.spawner_joint_trajectory_controller]: Configured and activated joint_trajectory_controller [INFO] [spawner-6]: process has finished cleanly [pid 18418] [INFO] [spawner-7]: process has finished cleanly [pid 18420] [INFO] [spawner-5]: process has finished cleanly [pid 18416] [spawner-5] [INFO] [1715621427.208847784] [lbr.spawner_force_torque_broadcaster]: Configured and activated force_torque_broadcaster [INFO] [robot_state_publisher-8]: process started with pid [18540] [INFO] [rviz2-9]: process started with pid [18550] [robot_state_publisher-8] [INFO] [1715621427.462509098] [lbr.robot_state_publisher]: got segment link_0 [robot_state_publisher-8] [INFO] [1715621427.462654701] [lbr.robot_state_publisher]: got segment link_1 [robot_state_publisher-8] [INFO] [1715621427.462674178] [lbr.robot_state_publisher]: got segment link_2 [robot_state_publisher-8] [INFO] [1715621427.462699653] [lbr.robot_state_publisher]: got segment link_3 [robot_state_publisher-8] [INFO] [1715621427.462708882] [lbr.robot_state_publisher]: got segment link_4 [robot_state_publisher-8] [INFO] [1715621427.462717042] [lbr.robot_state_publisher]: got segment link_5 [robot_state_publisher-8] [INFO] [1715621427.462744730] [lbr.robot_state_publisher]: got segment link_6 [robot_state_publisher-8] [INFO] [1715621427.462754863] [lbr.robot_state_publisher]: got segment link_7 [robot_state_publisher-8] [INFO] [1715621427.462765745] [lbr.robot_state_publisher]: got segment link_8 [robot_state_publisher-8] [INFO] [1715621427.462775395] [lbr.robot_state_publisher]: got segment link_ee [robot_state_publisher-8] [INFO] [1715621427.462784928] [lbr.robot_state_publisher]: got segment world [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_1" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_1" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_2" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_2" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_3" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_3" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_4" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_4" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_5" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_5" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_6" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_6" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_7" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_7" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [rviz2-9] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway. [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_1" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_1" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_2" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_2" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_3" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_3" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_4" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_4" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_5" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_5" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_6" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_6" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_7" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_7" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_1" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_1" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_2" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_2" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_3" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_3" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_4" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_4" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_5" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_5" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_6" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_6" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan) [move_group-3] at line 254 in ./src/buffer_core.cpp [move_group-3] Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "lbr/link_7" from authority "Authority undetectable" because of a nan value in the transform (nan nan nan) (nan nan nan nan) [move_group-3] at line 235 in ./src/buffer_core.cpp [move_group-3] Error: TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "lbr/link_7" from authority "Authority undetectable" because of an invalid quaternion in the transform (nan nan nan nan)

above code is error code in terminal

mhubii commented 1 month ago

I mean you can essentially see here

[ros2_control_node-1] [INFO] [1715621420.902732391] [lbr_ros2_control::SystemInterface]: Waiting for robot heartbeat [5/10]. Port ID: 30200.

that no connection is established ever

mhubii commented 1 month ago

could you please share how you built this project?

SUUHOLEE commented 1 month ago

There is nothing called project.

Using ROS is all about moving the robot using the path planning code mentioned above.

This is a project that reads magnetic field sensor values into another laptop after movement.

mhubii commented 1 month ago

I am wondering how you compile this project

SUUHOLEE commented 1 month ago

I am conducting experiments to optimize the arrangement of eight electromagnets in an electromagnet system to maximize force and torque, and validating this through experiments.

Is this information do you want information?

mhubii commented 1 month ago

no.

What steps did you follow to build this project?

SUUHOLEE commented 1 month ago

Thank you for your kind reply.

I came back today and tried to communicate and confirmed that the error was gone. That error code seems to occur when the Ethernet cable is not connected to the robot. (I connected it.) Therefore, the Ethernet cable may be the problem or the cable connecting the Ethernet cable to the laptop.

mhubii commented 1 month ago

awsome!

Make sure you re-install the lbr-stack @SUUHOLEE :

  1. Download

    source /opt/ros/humble/setup.bash
export FRI_CLIENT_VERSION=1.15
mkdir -p lbr-stack/src && cd lbr-stack
vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/humble/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
rosdep install --from-paths src -i -r -y

  2. Build

    colcon build --symlink-install

  3. Run

    source install/setup.bash
ros2 launch lbr_bringup bringup.launch.py model:=med14 sim:=false moveit:=true