search

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
145 stars 192 forks source link

FS 100 response to MOTO_MOTION_CTRL message incorrect. #1

Closed shaun-edwards closed 11 years ago

shaun-edwards commented 11 years ago

The robot id and sequence fields in the MOTO_MOTION_CTRL reply are not set correctly. See the email snippet below for more details.

On 12/06/2013 20:01, Zoss, Jeremy K. wrote: > Gijs, > > I was not involved in the earlier email chain, so I don't have a copy > of the Wireshark capture. When I look through the MotoPlus source > code, I think I can see where this reply is coming from. See > fs100/MotoPlus/SimpleMessage.c:Ros_SimpleMsg_MotionReply() > http://code.google.com/p/swri-ros-pkg/source/browse/trunk/motoman/fs100/MotoPlus/SimpleMessage.c#92. > In the code, it looks like when a reply message is sent to anything > other than a MOTO_MOTION_CTRL message (type 2001), the robot_id and > sequence fields are set to -1. This probably comes across as 0xFFFFFFFF. Yes, -1 interpreted as an unsigned would be 0xFFFFFFFF. > I don’t know that this behavior was intended or not. In particular, > the tests at lines 106 and 112 seem redundant. I agree with you that > the expected reply to a JointTrajPtFull message should mirror the > robot_id and sequence from the incoming message. I think your > interpretation of the expected response is correct. Looks like a copy/pasta error to me then. The 'else if' checks again for a ROS_MSG_MOTO_MOTION_CTRL, just as the 'if' before it did. > This should be a simple 3-line change, but I’ll check with the Motoman > author first to see if he has any objections. Ok. If I get the dissector in a good enough state, I'll push it to my github repo. Gijs
JeremyZoss commented 11 years ago

Eric has released a fix already. I will try to upload this weekend.

JeremyZoss commented 11 years ago

Fixed in 292b5cc