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Space Robotics Challenge
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No known winch joint to control #239

Closed osrf-migration closed 7 years ago

osrf-migration commented 7 years ago

Original report (archived issue) by Akihiko Honda (Bitbucket: akiHonda).

I got some error during an initialize phase of R5.

The message is like below, and R5 keeps falling in the start position.

SUMMARY
========

PARAMETERS
 * /hands_joint_state_controller/publish_rate: 50
 * /hands_joint_state_controller/type: joint_state_contr...
 * /left_hand_position_controller/joints: ['leftThumbRoll',...
 * /left_hand_position_controller/type: position_controll...
 * /right_hand_position_controller/joints: ['rightThumbRoll'...
 * /right_hand_position_controller/type: position_controll...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    controller_spawner (controller_manager/spawner)
    hand_state_publisher (robot_state_publisher/state_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[controller_spawner-1]: started with pid [14603]
process[hand_state_publisher-2]: started with pid [14604]
[INFO] [WallTime: 1496911004.857363] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller
[INFO] [WallTime: 1496911004.859627] [0.000000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1496911004.860878] [0.000000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1496911004.868355] [0.000000] Loading controller: hands_joint_state_controller
[INFO] [WallTime: 1496911005.195303] [9.835000] Loading controller: left_hand_position_controller
[INFO] [WallTime: 1496911005.488830] [9.935000] Loading controller: right_hand_position_controller
[INFO] [WallTime: 1496911005.783038] [10.034000] Controller Spawner: Loaded controllers: hands_joint_state_controller, left_hand_position_controller, right_hand_position_controller
[INFO] [WallTime: 1496911006.081964] [10.135000] Started controllers: hands_joint_state_controller, left_hand_position_controller, right_hand_position_controller
[Msg] [Harness] Received new goal [0 0 1.257 0 -0 0]
[Msg] [Harness | 00:15.001] New goal ... detaching
[Msg] Detaching harness joint
[Err] [HarnessPlugin.cc:238] No known winch joint to control
[Msg] [Harness | 00:15.002] Detached ... reattaching
osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

You're running an old harness plugin on the robot (HarnessPlugin instead of SRCHarnessPlugin). This means you have an old val_description package.

Could you try sudo apt upgrade to make sure you are running all the latest packages? Thanks!

osrf-migration commented 7 years ago

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

osrf-migration commented 7 years ago

Original comment by Akihiko Honda (Bitbucket: akiHonda).

Yes, it is resolved. Thank you !

osrf-migration commented 7 years ago

Original comment by Akihiko Honda (Bitbucket: akiHonda).