search

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
146 stars 195 forks source link

Unable to read joint_states #336

Closed Pranav186 closed 4 years ago

Pranav186 commented 4 years ago

Hello, I am using the motoman gp50 robot with yrc1000 controller. After installing motosros, I am not able to read the joint_states. The command rostopic echo joint_states give the following output-

header:
  seq: 522
  stamp:
    secs: 1591816796
    nsecs: 152996560
  frame_id: ''
name: []
position: []
velocity: []
effort: []

Also, the terminal used for launching the file is giving the following error-

[ERROR] [1591816782.236914786]: Failed to find topic_list parameter
[ERROR] [1591816782.242008140]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1591816782.268223575]: Failed to find topic_list parameter
[ERROR] [1591816782.273167157]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1591816782.274316488]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1591816782.274503627]: Failed to initialize joint_names.

rosparam set controller_joint_names "[joint_s, joint_l, ..., joint_t]" does not have any change.

gavanderhoorn commented 4 years ago

So this is a different robot from your other issues then?

In any case: please tell us how you start things.

Which .launch files do you use? Show us the verbatim commands.

Pranav186 commented 4 years ago

Yes, this is a different robot.

The command used was-

roslaunch motoman_driver robot_interface_streaming_yrc1000.launch robot_ip:=192.168.1.31

gavanderhoorn commented 4 years ago

You shouldn't start that .launch file directly.

Look at motoman_gp25_support/launch/robot_interface_streaming_gp25.launch and mimic that for your GP50.

Ideally you'd also create a support package for that GP50, so you have a place to store those files.

Finally: see whether Working With ROS-Industrial Robot Support Packages (linked from the main readme and the wiki pages) provides some insight into how robot support packages are structured, and why they contain the files they contain.

gavanderhoorn commented 4 years ago

I'm going to close this, as it's a configuration issue, not an issue with the packages in this repository.

In the meantime: please keep commenting if you have any further questions.

If it turns out there is something which needs work related to this issue, we can re-open.

Pranav186 commented 4 years ago

Look at motoman_gp25_support/launch/robot_interface_streaming_gp25.launch and mimic that for your GP50.

That worked, I am able to read the joint_states. Also, the robot is following the trajectory. Thanks @gavanderhoorn

Ideally you'd also create a support package for that GP50, so you have a place to store those files.

Finally: see whether Working With ROS-Industrial Robot Support Packages (linked from the main readme and the wiki pages) provides some insight into how robot support packages are structured, and why they contain the files they contain.

Yes, I will definitely look into that.