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ros-industrial / abb_robot_driver

The new ROS driver for ABB robots
BSD 3-Clause "New" or "Revised" License
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Call to set_motor_on failed after not using the robot for longer period of time #60

Open dave992 opened 1 year ago

dave992 commented 1 year ago

The service call to /rws/set_motors_on sometimes fails with the following result:

result_code: 0 
message: "Service failed (e.g. timeout or resource not found, see the DEBUG log for details)"

This only seems to happen if I do not use the abb_robot_driver for a longer period of time (like 5min plus?) when the motors are off and I want to activate them again via the /rws/set_motors_on service call.

Immediately calling the same service again works and activates the motors as expected.

gavanderhoorn commented 1 year ago

It's likely this is caused by the servos going into energy conservation / eco mode.

That's indeed not a situation that was included in testing during development.

I'm not immediately sure why a second invocation is required.

Is there any indication of whether servos are still on in the state topic(s)?

dave992 commented 1 year ago

The /rws/system_states topics report motors_on: False just before reproducing this error. (I always start the state machine in a motors off state).