Problem when running `start_egm_joint`

[adkoessler]

Hi,

I'm using RobotStudio 2022 and RobotWare 6.14 to control an IRB1200 robot (in a virtual station) using ROS. I've had good progress in the tutorials and RWS works fine. However, when I'm trying to execute example 2, I cannot move the simulated robot through ROS.

The UDPUC transmission protocols have been set up as show in tutorials. First of all, it is not clear to me what RAPID instructions should be fed within the T_ROB1 task. I tried using the code below, which was attached to some messages on this GitHub.

MODULE TRob1Main
!======================================================================================================
! Copyright (c) 2018, ABB Schweiz AG
! All rights reserved.
!
! Redistribution and use in source and binary forms, with
! or without modification, are permitted provided that
! the following conditions are met:
!
!    * Redistributions of source code must retain the
!      above copyright notice, this list of conditions
!      and the following disclaimer.
!    * Redistributions in binary form must reproduce the
!      above copyright notice, this list of conditions
!      and the following disclaimer in the documentation
!      and/or other materials provided with the
!      distribution.
!    * Neither the name of ABB nor the names of its
!      contributors may be used to endorse or promote
!      products derived from this software without
!      specific prior wrSitten permission.
!
! THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
! AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
! IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
! ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
! LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
! DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
! SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
! CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
! OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
! THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
!======================================================================================================

    !***********************************************************
    ! Program data
    !***********************************************************
    ! Home position.
    LOCAL CONST jointtarget home := [[0, 0, 0, 0, 30, 0], [9E9, 9E9, 9E9, 9E9, 9E9, 9E9]];

    ! Identifier for the EGM correction.
    LOCAL VAR egmident egm_id;

    ! Limits for convergance.
    LOCAL VAR egm_minmax egm_condition := [-0.1, 0.1];

    !***********************************************************
    !
    ! Procedure main
    !
    !   This RAPID code exemplify how to run EGM joint position
    !   motions.
    !
    !   Note: Update the UCDevice "ROB_1" with correct
    !         values for the remote address and port
    !         (i.e. to the EGM server).
    !
    !         Update via RobotStudio:
    !         Controller tab -> Configuration ->
    !         Communication -> Transmission Protocol
    !
    !***********************************************************
    PROC main()
        WHILE TRUE DO
            MoveAbsJ home, v200, fine, tool0;

            ! Register an EGM id.
            EGMGetId egm_id;

            ! Setup the EGM communication.
            EGMSetupUC ROB_1, egm_id, "default", "ROB_1", \Joint;

            ! Prepare for an EGM communication session.
            EGMActJoint egm_id
                        \J1:=egm_condition
                        \J2:=egm_condition
                        \J3:=egm_condition
                        \J4:=egm_condition
                        \J5:=egm_condition
                        \J6:=egm_condition
                        \MaxSpeedDeviation:=20.0;

            ! Start the EGM communication session.
            EGMRunJoint egm_id, EGM_STOP_RAMP_DOWN, \J1 \J2 \J3 \J4 \J5 \J6 \CondTime:=5 \RampOutTime:=5;

            ! Release the EGM id.
            EGMReset egm_id;

            WaitTime 5;
        ENDWHILE

    ERROR
        IF ERRNO = ERR_UDPUC_COMM THEN
            TPWrite "Communication timedout";
            TRYNEXT;
        ENDIF
    ENDPROC
ENDMODULE

When starting the RAPID code, the status of EGM channel switches between active (true) and inactive (false). I don't know whether this is expected. Issuing rosservice call /rws/sm_addin/start_egm_joint "{}" then results in an error. I tried searching for this error, but had little success doing so.

Any input is greatly appreciated.