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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Dual Arm Operation Error #473

Closed josephbhlee closed 2 years ago

josephbhlee commented 2 years ago

I have tried to operate dual arms at the same time, but failed. ////////////////////////////////// 1.Main Source Code std::vector ppoints[2]; std::vector pvelocities[2];

//Use current pose as first trajectory point ppoints[0] = readJointAngles(); pvelocities[0] = readJointVelocities();

//Use goal for position and 0 for velocity of second trajectory point ppoints[1].assign(goal,goal+15); pvelocities[1].assign(15,0.0); double d_msg[2] = {0,duration};

control_msgs::FollowJointTrajectoryGoal msg = create_goal_message(ppoints, pvelocities,2,d_msg);

sendJointTrajectory(msg);

2.Error Message -. Invalid number of joint -. Invalid trajectory. Not sent /////////////////////////////// When I tried to operate each part(left arm, right arm and Torso), there was no error.

Can you guide me to operate dual arms at the same time?

gavanderhoorn commented 2 years ago

There's already #475, let's not duplicate that in an issue here.