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Failed to change to slave mode. (83501024) for cobotta
Environment
Ubuntu 18.04 + ROS Melodic
Description
Hi, I'm ready to launch roslaunch denso_robot_control denso_robot_control.launch, but with the urdf files from denso_cobotta_ros. I also add a cobotta.launch.xml as the same way of VS060:
<launch>
<param name="robot_name" value="CVR038A1-NV6-NNN-NNN"/>
<param name="robot_joints" value="6"/>
<param name="joint_1" value="1"/>
<param name="joint_2" value="1"/>
<param name="joint_3" value="1"/>
<param name="joint_4" value="1"/>
<param name="joint_5" value="1"/>
<param name="joint_6" value="1"/>
<param name="arm_group" value="0"/>
</launch>
After fixing the internet token executable problem, I can see the motor can be powered on, but I got the error[ERROR] [ros.denso_robot_control]: Failed to change to slave mode. (83501024):
The entire outputs are:
SUMMARY
========
PARAMETERS
* /cobotta/arm_controller/joints: ['joint_1', 'join...
* /cobotta/arm_controller/type: position_controll...
* /cobotta/arm_group: 1
* /cobotta/config_file: /home/yy/ws_denso...
* /cobotta/conn_type: tcp
* /cobotta/controller_name:
* /cobotta/controller_type: 8
* /cobotta/invoke_timeout: 180000
* /cobotta/ip_address: 192.168.0.10
* /cobotta/joint_1: 1
* /cobotta/joint_2: 1
* /cobotta/joint_3: 1
* /cobotta/joint_4: 1
* /cobotta/joint_5: 1
* /cobotta/joint_6: 1
* /cobotta/joint_state_controller/publish_rate: 125
* /cobotta/joint_state_controller/type: joint_state_contr...
* /cobotta/port_number: 5007
* /cobotta/recv_format: 292
* /cobotta/retry_count: 5
* /cobotta/robot_joints: 6
* /cobotta/robot_name: CVR038A1-NV6-NNN-NNN
* /cobotta/send_format: 288
* /cobotta/timeout: 3000
* /cobotta/wait_time: 0
* /cobotta/watchdog_timer: 400
* /robot_description: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.3
NODES
/cobotta/
controller_spawner (controller_manager/spawner)
denso_robot_control (denso_robot_control/denso_robot_control)
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
auto-starting new master
process[master]: started with pid [23949]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 946aa6e2-c98b-11e9-8860-d4bed94f78ea
process[rosout-1]: started with pid [23960]
started core service [/rosout]
process[cobotta/denso_robot_control-2]: started with pid [23968]
process[cobotta/controller_spawner-3]: started with pid [23969]
process[robot_state_publisher-4]: started with pid [23970]
[INFO] [rosout]: Controller Spawner: Waiting for service controller_manager/load_controller
[ERROR] [ros.denso_robot_control]: Failed to change to slave mode. (83501024)
[cobotta/denso_robot_control-2] process has finished cleanly
log file: /home/yy/.ros/log/946aa6e2-c98b-11e9-8860-d4bed94f78ea/cobotta-denso_robot_control-2*.log
[WARN] [rosout]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[cobotta/controller_spawner-3] process has finished cleanly
log file: /home/yy/.ros/log/946aa6e2-c98b-11e9-8860-d4bed94f78ea/cobotta-controller_spawner-3*.log
The error log of remote TP shows that this may happen if two programs take the control of robot at the same time. How can I fix this error? Thanks.
How can I control the Mini I/O several port in the same time?
I use the ports 28, 29, and 30, but I want to use the 29 and 30 only.
I use hsr065a1 scara robot.
Thank you.
How to run two robots that are same except IP address?(only IP address is different)
I have no idea how to run two hsr065a1 scalar robots at the same time(that are same except IP address).
At the very first time, I operated the robots with different IP address on denso robot bringup package. But when I operated the second robot, the motor of the first robot turned off.
And then
after I made different robot package file names, such as robot1, robot2, I operated robot1 first. But as soon as I operated robot2, I got a message [Setting the scen for model ‘robot1’ but model ‘robot2’ is loaded] without turnning off the motor of the robot1.
Please let me know how to operate two robot at the same time that are same except IP address?
How to create moveit related files after adding gripper to VS050A3 robot.
Thank you for always following me. Added gripper to URDF file in vs050_description file.
However, when executing Move It, the following error occurs and Move It does not work well.
[ WARN] [1662612086.943877938]: The complete state of the robot is not yet known. Missing left_finger_joint1
[ERROR] [1662613488.754189262]: Joints on incoming goal don't match the controller joints.
I edited the SRDF file, denso_robot_control.yaml and other related files, but none of them worked.
Therefore, I tried to create a move-it related file after adding the gripper to the URDF again using the following procedure in the tutorial,
rosrun denso_robot_bringup install_robot_description.py ~/vs050a3_description
but I got an error that it could not be executed.
Could you tell me how to add a new gripper to this repository?
What exactly is the "arm_group"?
In vs060.launch.xml,
<launch>
...
<param name="arm_group" value="0"/>
</launch>
What exactly does the arm_group stand for and for what purpose is it used?
Is this useful, for example, when you want to coordinate multiple robot arms? I would be happy to get some examples of how it is being used.
Thank you in advance.
OpenAI ROS tutorial error/TypeError: __init__() got an unexpected keyword argument 'timestep_limit'
By following the first video tutorial at http://wiki.ros.org/openai_ros, I did 'roslaunch turtle2_openai_ros_example start_training_maze.launch' .
Then, I got 'TypeError: init() got an unexpected keyword argument 'timestep_limit''. Could you tell me how should I cope with?
This is the detail of my command line.
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
NODES
/
example_turtlebot2_maze_qlearn (turtle2_openai_ros_example/my_start_qlearning_maze.py)
ROS_MASTER_URI=http://localhost:11311
process[example_turtlebot2_maze_qlearn-1]: started with pid [5828]
Traceback (most recent call last):
File "/home/usr/catkin_ws/src/openai_examples_projects/turtle2_openai_ros_example/scripts/my_start_qlearning_maze.py", line 12, in
import my_turtlebot2_maze
File "/home/usr/catkin_ws/src/openai_examples_projects/turtle2_openai_ros_example/scripts/my_turtlebot2_maze.py", line 13, in
timestep_limit=timestep_limit_per_episode,
File "/usr/local/lib/python2.7/dist-packages/gym/envs/registration.py", line 153, in register
return registry.register(id, **kwargs)
File "/usr/local/lib/python2.7/dist-packages/gym/envs/registration.py", line 147, in register
self.env_specs[id] = EnvSpec(id, *kwargs)
TypeError: init() got an unexpected keyword argument 'timestep_limit'
[example_turtlebot2_maze_qlearn-1] process has died [pid 5828, exit code 1, cmd /home/usr/catkin_ws/src/openai_examples_projects/turtle2_openai_ros_example/scripts/my_start_qlearning_maze.py __name:=example_turtlebot2_maze_qlearn __log:=/home/usr/.ros/log/aa25e98c-aa88-11e9-9178-bcc342af79b5/example_turtlebot2_maze_qlearn-1.log].
log file: /home/usr/.ros/log/aa25e98c-aa88-11e9-9178-bcc342af79b5/example_turtlebot2_maze_qlearn-1.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Blockquote
slvMove under Mode 0x202
I am using bcap python to control cobotta. When performing bcc.robot_execute(self.hrbt, "slvMove", jnts) in a while loop to move joints a long a planned trajectory, my robot stops due to exception 84201482.
After some debugging, I find that the buffer empty problem usually happened in the very beginning of a motion trajectory.
If I print the returned timestamps from robot, I could see things like this:
13508748 [-116.20905554149799, 3.0567682619781675, 53.14143028320454, 116.36814649315967, 103.1989631033668, -49.82750854531973, 0, 0]
13508750 [-116.20512549882889, 3.057020257002086, 53.1431989936295, 116.36538289994337, 103.19413799537672, -49.826592746694786, 0, 0]
13508751 [-116.19322104613083, 3.05778357259303, 53.14855657657791, 116.35701172754392, 103.17952230932254, -49.82381871029631, 0, 0]
The timestamps have very short intervals.
For successfully executed trajectories, the short intervals happen sometimes too, but in most cases, 8 ms separation could be confirmed. Any ideas about the causes? Thanks!
execution slow
I am using this project with a denso robot.
I find that when i switcth to slave mode and use moveit to control the robot, it is visibilly much slower than i use the WincapsIII to execute some trajectories.
I am using default velocity factors and set to 100% external speed. How can I speed up?
About license terms and conditions
When using the denso_robot_ros package
Wincap3 retail version, VRC license, Orin2 SDK license are required. Is this for one DENSO robot?
Or is it possible to control multiple units with one set of licenses?
"Failed to fetch current robot state" when adding a new fixed joint
Hi,
so, I have a vs087 Robot and I added some fixed joints to the J6 link in the urdf file, to simulate a camera.
This is what I added in the .urdf file:
...
<link name="camera">
<inertial>
<mass value="0.1" />
<origin xyz="0.0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<collision name="camera_collision">
<origin xyz="0.0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.170 0.150 0.300" />
</geometry>
</collision>
<visual name="camera_visual">
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.170 0.150 0.300" />
</geometry>
<material name="Pink">
<color rgba="1 0 0.9 1.0" />
</material>
</visual>
</link>
<joint type="fixed" name="camera_joint">
<origin xyz="0.155 0 0.1" rpy="0 0 0" />
<child link="camera" />
<parent link="J6" />
</joint>
<link name="camera_tf_frame" />
<joint name="camera_tf_frame_joint" type="fixed">
<origin xyz="0 0 0.1" rpy="1.57079 3.14159 1.57079" />
<parent link="J6" />
<child link="camera_tf_frame" />
</joint>
...
With this configuration Rviz works correctly, but the C++ MoveIt interface returns an error when getting the current pose move_group->getCurrentPose();:
[ INFO]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ERROR]: Failed to fetch current robot state
Do I need to change other configuration files in order to get the current position?
Thank you
Failed to connect real controller. (80000909)
Error when running
roslaunch denso_robot_bringup denso_robot_bringup.launch sim:=false ip_address=<vs060 address>
The problem is
Failed to connect real controller. (80000900)
the error is raised in running
<node name="denso_robot_control" pkg="denso_robot_control" type="denso_robot_control" output="screen" ns="/$(arg robot_name)"/>
that in denso_robot_hardware.cpp that
HRESULT hr = m_eng->Initialize(); if(FAILED(hr)) { ROS_ERROR("Failed to connect real controller. (%X)", hr); return hr;
throws the exception. However the error code varies if I launch the project seperately or in a roll. I have experienced (80000900) or (80000909) or something else like 8000XXXX.
I am trying to control my real VS060 robot with RC8A controller through ROS, which is kinetic version on ubuntu16.04 and i have already registered the license for b-cap as suggested in the tutorial http://wiki.ros.org/denso_robot_ros/Tutorials/How%20to%20control%20an%20RC8%20with%20MoveIt%21
and converted the vs060-descriptions. I have tried both the apt-get version or source built kinetic-devel version of this repo, but facing the same Failed to connect real controller problem.
could you provide some thoughts about how could this problem happen?
thanks in advance and wish u a happy new year!
Failed to write (80000900)
When i control the VS060 through bcap Slave Mode, sometimes i face the "failed to write (80000900)" error the mode then switched to Normal Mode.
The error occurs not very often, and unexpectable, It could happen at any step.
I think maybe its an connection problem, however i even tried to connect the computer directly with RC8A, and the same problem sometimes happens.
any idea what can i do about it?
THANKS!
How to control the standard gripper on cobotta in ros
I can control the arm in ros now, but I see the moveit of ros, there is no group of gripper, how can I control the gripper in ros, I just need to control the gripper with position or even "open and close", could you give me some suggestions about that? thank you very much!
Over speed in slave mode
After i have changed my acceleration limits and velocity limits according to http://wiki.ros.org/denso_robot_ros/AcquireVelAcc
I am facing another problem that the robot stop frequently because of over speed issue.
The error message reads "J1 command speed limit over" (Not only J1 but every angle could happen), which means "The CP motion cannot execute with the specified speed because the speed command value of the 1st axis exceeds the limit value"
The command was generated by MoveIt, what could I do to avoid this problem? I don't wanna lose too much speed either.
Fail to connect real controller (80000909)
I've been working around this problem for three days, and continue trying to figure out the solution. After struggled into the docs and code of b-Cap and ORiN, i decided to post the problem here, instead of answers.ros.org, because I think this problem is more a b-Cap connection problem than ROS problem.
The error occurs when I run the tutorial according to:
http://wiki.ros.org/denso_robot_ros/Tutorials/How%20to%20control%20an%20RC8%20with%20MoveIt%21
and the real controller cannot be connected, and raise the following issue:
[ERROR] [1546830111.567536479]: Failed to connect real controller. (80000909)
the ros params are using the project default, as:
` * /robot_description: <robot name="vs06...
- /rosdistro: kinetic
- /rosversion: 1.12.14
- /vs060/arm_controller/joints: ['joint_1', 'join...
- /vs060/arm_controller/type: position_controll...
- /vs060/arm_group: 0
- /vs060/config_file: /home/flyinsky/Re...
- /vs060/conn_type: tcp
- /vs060/controller_name:
- /vs060/controller_type: 8
- /vs060/invoke_timeout: 180000
- /vs060/ip_address: 192.168.1.33
- /vs060/joint_1: 1
- /vs060/joint_2: 1
- /vs060/joint_3: 1
- /vs060/joint_4: 1
- /vs060/joint_5: 1
- /vs060/joint_6: 1
- /vs060/joint_state_controller/publish_rate: 125
- /vs060/joint_state_controller/type: joint_state_contr...
- /vs060/port_number: 5007
- /vs060/recv_format: 292
- /vs060/retry_count: 5
- /vs060/robot_joints: 6
- /vs060/robot_name: VS060A3-AV6-NNN-NNN
- /vs060/send_format: 288
- /vs060/timeout: 3000
- /vs060/wait_time: 1
- /vs060/watchdog_timer: 400
`
I have checked the error code, which should be , according to http://www.orin.jp/e/wp-content/uploads/sites/2/2016/05/ORiN2_ProgrammersGuide_en.pdf and https://github.com/fsuarez6/bcap/blob/master/include/bcap/dn_common.h, the problem should be the connecting packet on UDP is too big.
another problem could be that my ROS-kinetic is built on python2.7 as recommended. but when I try the python-b-cap version according to https://github.com/ShoheiKobata/orin_bcap_python_samples , only if i use my python 3 interpreter can be able to connect controller and successfully run the SlaveMode. Python 2.7 throw exception that probably String type issue.
In addition, when I test b-cap using b-cap test, the UDP connection throws the same 80000909 packet size error, but when I switch to TCP, the connection process is fine. However, when I modify the launch file bcap_service.launch.xml to set to TCP, and rosparams are changed, the connection still throws the 80000909 error. I dont know if the launch really uses the TCP connection.
And here is my question, what could possibly cause this error? How can I define the UDP packet size? could python2.7 be compatible with the b-cap service?
UPDATE:
I think I have found a way to overcome this problem. I now can use moveit to remote control the VS060 robot.
- I am using the TCP mode
- I have altered some of my RC8 settings.
I think there are something need to be modified to the tutorial, so that when other people look into this program, they wont spend so much time to bringup as i had. On the other hand, I do have learned a lot about my robot through this work.
- I think TCP mode should be prefered as default, because it is more stable through b-cap_test
- I think the launch file, especially the denso_ros_control.launch should be more specific in which is to load params and which to be really launched. I think the .launch and .launch.xml is somehow confusing to the users.
- Another RC8 setting need to be mentioned, that No.37 'Program Prioriy Mode set when starting ' in VRC settings should be set to 'Disable'. To the worst, some Denso Manuals, as the one I used before, VARIES from the TP, I think this worth mentioning.
- The error code 80000909 doesnt reflect the real error.
- Need to check if the python version b-cap is compatible with python 2.7
Thanks for your program anyway, being able to connect my VS060 to ROS is really useful
Support for VS6577 and IO control
Thanks very much for making efforts to provide a ROS interface with DENSO robot!
I know that this package is under development. Just curious whether this package serves as a generic controller for all DENSO robots with 6DOF? Actually I'm using VS6577 instead of VS060, will this package still work?
And I'll need I/O control in order to start up my end effector. Will this package provide this interface to the robot?
Many thanks!
Catkin_make error(denso_robot_ros)
When I do 'catkin_make', the following error happens.
Could you tell me the solution of it?
I already download all packages including 'bcap_core'.
How to do 24v output for RC8 robot controller from ROS
Currently, we are thinking of using a hand that controls the solenoid valve and operates the air chuck.
The controller uses RC8. The model number is VS050A3-AV6-NNN-NNNAN-NNNN.
Looking at the manual, it seems that it can be output from pin 17 of Hand I/O,
but could you tell me how to output using ROS?
Do you accept appending/modifying robot models?
We are using a few types of DENSO robot arm. Do you accept pull requests to add these models for denso_robot_descriptions? Auto-generated URDF is not suitable for real usage (ex. changing base_link, multiple robots, etc.). And usually people want to try the robot arm in simulation in prior to buy the robot. So I guess it is good if we could find the list of the robot arm in denso_robot_descriptions.
How do you think?
Action client not connected: vs060/arm_controller/follow_joint_trajectory
Hi, I'm trying to connect ROS and MoveIt to the simulated vs060 inside Wincaps 3. I followed your tutorial but when I launch roslaunch denso_robot_bringup vs060_bringup.launch sim:=false ip_address:=WINDOWS_PC_ADDRESS I see in the standard output two errors:
...
[ERROR] [1655719837.693261276]: Invalid robot type.
...
[ERROR] [1655719854.571573812]: Action client not connected: vs060/arm_controller/follow_joint_trajectory
...
Here's everything I did:
- Installed Ubuntu 18.04
- Installed ROS Melodic
- Installed
ros-melodic-denso-robot-ros - Created a WinCaps 3 project with vs060 robot and started the simulation on the Windows PC
- Started the service on bcapconfig
- launched the command above
Obviously if I try to move the robot in Rviz and click plan and execute I got more error messages:
[ERROR] [1655720657.389995057]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ERROR] [1655720657.390058348]: Known controllers and their joints:
[ERROR] [1655720657.390088555]: Apparently trajectory initialization failed
I can confirm that the packets between Ubuntu and Windows are exchanged (checked with Wireshark)
What should I do? Thank you in advance
ROSConverter Issue
Thank you for providing ROS library for Denso robots.
I would like to control COBOTTA (standard type) using this package. In order to control robot other than VS060, we have to use ROSConverter. As I was following this page's guide, I encountered with this issue.
> tulga@tulga:~$ rosrun denso_robot_bringup install_robot_description.py /home/tulga/cobotta_description/
> Traceback (most recent call last):
> File "/opt/ros/kinetic/lib/denso_robot_bringup/install_robot_description.py", line 97, in <module>
> shutil.move(conf_dir, conf_pkg + "/config")
> File "/usr/lib/python2.7/shutil.py", line 299, in move
> copytree(src, real_dst, symlinks=True)
> File "/usr/lib/python2.7/shutil.py", line 177, in copytree
> os.makedirs(dst)
> File "/usr/lib/python2.7/os.py", line 157, in makedirs
> mkdir(name, mode)
> OSError: [Errno 13] Permission denied: '/opt/ros/kinetic/share/denso_robot_moveit_config/config/cobotta_config'
I tried giving python file all kinds of permission but had no luck. Also tried creating directory manually, but in python script, whenever there is same name directory, it calls sys.exit().
What should I do? Has anyone encountered this kind of problem?
Incorrect parameter when attempting to control a Cobotta robot (80070057)
I would like to control a standard Cobotta robot from ROS Noetic. So far I've been successful in integrating it, but now I face an issue without a clear way to fix it.
When connecting to the robot, launching the bringup file, by executing the following
roslaunch denso_robot_bringup denso_robot_bringup.launch sim:=false ip_address:=192.168.0.1 send_format:=0 recv_format:=2 robot_name:=cobotta
I get the following error:
Failed to clear error: The parameter is incorrect. (80070057)
There are no error logs on the robot side (checked with RemoteTP) and no further information as to what goes wrong.
I have dug into the source and found that the ExecManualResetPreparation does not go though. There is also a note for the fuction that calls it: ExecClearError saying: Do NOT call on b-CAP Slave, however the tutorial on how to control a Cobotta robot is all about how to enable the b-Cap Slave extension (which I did) to control the robot via ROS. When trying without the extension the robot says that b-Cap Slave must be enabled for it the be controlled this way.
From reading other issues, perhaps it is related to some settings/mode I forgot to change/enable in RemoteTP, but I cannot figure out what it could be.
I do not understand what parameter is incorrect or how to proceed from this point. The communication between ROS and the robot is up, but the error is not helpful... I feel like this is the last challenge before I can move the robot from ROS.
Build for Windows
Hi, I just noticed that here there is a mention to Windows and also Visual Studio compilation. Unfortunatly I'm not able to build this package on my PC using catkin, is Windows really supported? If yes, how can I build it?
The simulation package is not working.
I have used the ROSConverter to make cobotta urdf. And use the follow command to launch cobotta simulation:
roslaunch denso_robot_gazebo denso_robot_gazebo.launch robot_name:=cobotta
I can see the cobotta in gazebo,but on the teminal show some errors:
leo@leo-gaitech:~$ roslaunch denso_robot_gazebo denso_robot_gazebo.launch robot_name:=cobotta
... logging to /home/leo/.ros/log/bed5d050-7701-11e9-b3c6-3c95095e6245/roslaunch-leo-gaitech-27644.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://leo-gaitech:38943/
SUMMARY
PARAMETERS
* /cobotta/arm_controller/joints: ['joint_1', 'join...
* /cobotta/arm_controller/type: position_controll...
* /cobotta/joint_state_controller/publish_rate: 125
* /cobotta/joint_state_controller/type: joint_state_contr...
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /use_gui: True
* /use_sim_time: True
NODES
/cobotta/
controller_spawner (controller_manager/spawner)
/
gazebo (gazebo_ros/gzserver)
gazebo_gui (gazebo_ros/gzclient)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
spawn_urdf (gazebo_ros/spawn_model)
auto-starting new master
process[master]: started with pid [27654]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to bed5d050-7701-11e9-b3c6-3c95095e6245
process[rosout-1]: started with pid [27667]
started core service [/rosout]
process[gazebo-2]: started with pid [27678]
process[gazebo_gui-3]: started with pid [27695]
process[spawn_urdf-4]: started with pid [27701]
process[cobotta/controller_spawner-5]: started with pid [27702]
process[robot_state_publisher-6]: started with pid [27703]
[ INFO] [1557918500.312192255]: Finished loading Gazebo ROS API Plugin.
[INFO] [1557918500.318659, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1557918500.320129046]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1557918500.388198388]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1557918500.388874684]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1557918500.849935635, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1557918500.901576387, 0.069000000]: Physics dynamic reconfigure ready.
[ INFO] [1557918501.097208845, 0.252000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1557918501.280823201, 0.337000000]: Physics dynamic reconfigure ready.
[ INFO] [1557918501.326355838, 0.337000000]: Loading gazebo_ros_control plugin
[ERROR] [1557918501.326452032, 0.337000000]: GazeboRosControlPlugin missing <legacyModeNS> while using DefaultRobotHWSim, defaults to true.
This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, where the robotNamespace is disregarded and absolute paths are used instead.
If you do not want to fix this issue in an old package just set <legacyModeNS> to true.
[ INFO] [1557918501.326555416, 0.337000000]: Starting gazebo_ros_control plugin in namespace: /cobotta
[ INFO] [1557918501.327339954, 0.337000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1557918501.440165801, 0.337000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'joint_1'.
[ERROR] [1557918501.442258641, 0.337000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_1
[ WARN] [1557918501.442375819, 0.337000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'joint_2'.
[ERROR] [1557918501.444099104, 0.337000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_2
[ WARN] [1557918501.444167319, 0.337000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'joint_3'.
[ERROR] [1557918501.445765501, 0.337000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_3
[ WARN] [1557918501.445852412, 0.337000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'joint_4'.
[ERROR] [1557918501.447937253, 0.337000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_4
[ WARN] [1557918501.448257265, 0.337000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'joint_5'.
[ERROR] [1557918501.452891279, 0.337000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_5
[ WARN] [1557918501.452947484, 0.337000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'PositionJointInterface' within the <hardwareInterface> tag in joint 'joint_6'.
[ERROR] [1557918501.454471424, 0.337000000]: No p gain specified for pid. Namespace: /gazebo_ros_control/pid_gains/joint_6
[ INFO] [1557918501.462894933, 0.337000000]: Loaded gazebo_ros_control.
[ WARN] [1557918501.463366709, 0.338000000]: The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.
[ WARN] [1557918501.463422812, 0.338000000]: As a result, gravity will not be simulated correctly for your model.
[ WARN] [1557918501.463518558, 0.338000000]: Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.
[ WARN] [1557918501.463594439, 0.338000000]: For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612
[spawn_urdf-4] process has finished cleanly
log file: /home/leo/.ros/log/bed5d050-7701-11e9-b3c6-3c95095e6245/spawn_urdf-4*.log
[INFO] [1557918501.531111, 0.404000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1557918501.533042, 0.407000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1557918501.534571, 0.408000]: Loading controller: joint_state_controller
[ERROR] [1557918501.537304059, 0.411000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1557918501.537349003, 0.411000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1557918502.538778, 1.390000]: Failed to load joint_state_controller
[INFO] [1557918502.539758, 1.391000]: Loading controller: arm_controller
[ERROR] [1557918502.542356776, 1.394000000]: Could not load controller 'arm_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1557918502.542406101, 1.394000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1557918503.544248, 2.349000]: Failed to load arm_controller
[INFO] [1557918503.546235, 2.349000]: Controller Spawner: Loaded controllers:
[INFO] [1557918503.551513, 2.353000]: Started controllers:
I try to use the rosservice call to see the controller_manager/list_controller_types
leo@leo-gaitech:~$ rosservice call /cobotta/controller_manager/list_controller_types "{}"
types: []
base_classes: []
It shows no type. Now I want to use the gazebo to simulation Cobotta. Can you help me to solve this problem? Thank you very much.
Run DENSORobot RC8-VP6242 and ROS
Dear @YoshihiroMIYAKOSHI @gavanderhoorn
I would like to run a real Denso robot from your denso_robot_ros packages.
I have been imported the VP6242_description to the ros_package. It ok when simulating with gazebo.
But when I run with a real robot, It cant run and issue many issues.
This is the list of Errors:
(1) ERROR] [1514014457.959615445]: Invalid robot type
(2) [ERROR] [1514014475.056066194]: Action client not connected: vp6242a/arm_controller/follow_joint_trajectory
(3) WARNING
(4) [ERROR] [1514014834.840473065]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]
[ERROR] [1514014834.840529921]: Known controllers and their joints:
I would like to receive your help to fix the errors to run with a real robot.
Thank you very much.
Best regards,
Lac Duong
Hand: Excessive position error
While using a Cobotta robot with its standard gripper (controller version 2.8.0) via ROS Noetic. I tried to grasp an object which obviously stalled the gripper.
The robot triggered the Hand: Excessive position error (checked via RemoteTP).
I understand that the gripper will not reach its requested position, but that should not be a reason to trigger an error in this case. How can I prevent this error from occurring? Perhaps there are some hidden settings to allow for large position errors?
Failed to write. (83500121)
Sometimes when the manipulator is executing the trajectory, this error occurs and I get disconnected automatically, any idea what's the possible cause for this?
Not able to spawn the controller when using VS6577 model instead of VS060 (using sim:=true)
My headache
I built my own model for VS6577 and when I tried to bring up the whole system in simulation mode, it says:
1. Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-indigo-moveit-ros-planning-0.7.13/planning_scene_monitor/src/planning_scene_monitor.cpp:480
2. [ERROR] [1516414069.030088645, 15.171000000]: MoveItSimpleControllerManager: Action client not connected: vs6577/arm_controller/follow_joint_trajectory
So here is what I did to replace the VS060 with the VS6577:
-
I created my own vs6577_description under denso_robot_descriptions package, where I have stl files for VS6577 and urdf file and denso_robot_control.yaml and vs6577.launch.xml (Here is a question: what are these two files? I assume the first yaml file is for providing params for spawning controllers and I'm really confused about the launch file here, should I change something?)
-
I created my own vs6577_config under denso_robot_moveit_config package, where I have controllers.yaml, joint_limits.yaml and vs6577.srdf (the latter two are generated my moveit_setup_assistant)
-
I have my own vs6577_bringup.launch which is basically the same as vs060_bringup.launch except that I changed the robot_name from vs060 to vs6577.
Any suggestion?
I can provide extra information if you need it. I feel like this is just because I'm not understanding some of the parameters in some yaml file. And some parameters are in the wrong namespace.
Many thanks again for providing this interface and time for looking at my issue!!!
Controller ABORTED
Every time I execute the plan. I got the following warning:
[ WARN] [1517105508.508283943, 10.232000000]: Dropping first 1 trajectory point(s) out of 21, as they occur before the current time.
First valid point will be reached in 0.604s.
[ WARN] [1517105513.940435591, 14.934000000]: Controller vs6577/arm_controller failed with error code GOAL_TOLERANCE_VIOLATED
[ WARN] [1517105513.940549747, 14.934000000]: Controller handle vs6577/arm_controller reports status ABORTED
- I think the first warning is fine, it has something to do with the implementation of MoveIt itself.
- While the second and the third one is my concern: the controller seems to suffer a GOAL_TOLERANCE_VIOLATED every time it carries out a plan. It turns out that the plan is executed (the manipulator want to the desired position successfully), however, the controller still reports ABORTED and the return value by the execute() function is FALSE.
- I'm not quite familiar with ros_controller, have you ever met this problem?
- I'm using Ubuntu14.04 with ROS INDIGO
Many thanks!!
Facing issues when trying to configure denso VS060 with moveit servo on ROS-1
Hi,
I am trying to set up the robot (a Denso VS060) for compliance control tasks with ROS, for which, I wanted to configure the MoveIt Servo package to work with the current version of denso_robot_ros. (MoveIt Servo Docs).
Before I proceed, here is some information about the environment I am using:
ROS Distro: Noetic
OS: Ubuntu 20.04 LTS
RAM: 16GB
MoveIt servo needs specific type of controllers from the ROS-Control package to be setup in the robot's moveit config, namely: JointGroupPositionControl and JointGroupVelocityControl. These controllers in turn need the PositionJointControl and VelocityJointControl hardware interfaces enabled for the robot respectively. However, the package only has the PositionJointControl interface configured in the URDF which just leaves the 1st JointGroupPositionControlas the option. This leads us to my issue: Replacing the defaultJointTrajectoryControllerby theJointGroupPositionControlcontroller in list of supported controllers indenso_robot_control.yaml` doesn't spawn the controller and the robot cannot be moved through the MoveIt GUI in Rviz.
I launch the robot in simulation mode through the following command:
roslaunch denso_robot_bringup vs060_bringup.launch
This is my denso_robot_control.yaml file:
vs060:
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 125
arm_controller:
type: "position_controllers/JointGroupPositionController"
joints:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
I have left the controllers.yaml to the default configuration, since I thought the same low level controller should work:
controller_manager_ns: controller_manager
controller_list:
- name: vs060/arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
This is the logger output on launch:
[ WARN] [1673811889.757424733]: Falling back to using the move_group node's namespace (deprecated Melodic behavior).
[ INFO] [1673811889.769159458]: Loading robot model 'vs060'...
[ INFO] [1673811889.769223151]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1673811889.968867560]: rviz version 1.14.19
[ INFO] [1673811889.969430313]: compiled against Qt version 5.12.8
[ INFO] [1673811889.969558900]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1673811889.990951562]: Forcing OpenGl version 0.
[INFO] [1673811890.242193, 0.000000]: Waiting for /clock to be available...
[ INFO] [1673811890.432015818]: Stereo is NOT SUPPORTED
[ INFO] [1673811890.432114512]: OpenGL device: Mesa Intel(R) UHD Graphics 620 (KBL GT2)
[ INFO] [1673811890.432151594]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
[ INFO] [1673811890.586501037]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1673811890.588268914]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1673811890.682577868]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1673811890.684026664]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1673811890.754668153]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1673811890.757298645]: Listening to 'joint_states' for joint states
[ INFO] [1673811890.760935340]: Listening to '/attached_collision_object' for attached collision objects
[ INFO] [1673811890.760977918]: Starting planning scene monitor
[ INFO] [1673811890.762763493]: Listening to '/planning_scene'
[ INFO] [1673811890.762803142]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1673811890.764492832]: Listening to '/collision_object'
[ INFO] [1673811890.766635997]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1673811891.226304621, 0.003000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1673811891.251994570, 0.027000000]: Physics dynamic reconfigure ready.
[INFO] [1673811891.496387, 0.266000]: /clock is published. Proceeding to load the controller(s).
[INFO] [1673811891.498240, 0.267000]: Controller Spawner: Waiting for service controller_manager/load_controller
[spawn_urdf-5] process has finished cleanly
log file: /home/neelaksh/.ros/log/11df97d6-950d-11ed-8f52-49efd8f26302/spawn_urdf-5*.log
[ INFO] [1673811892.578225224, 0.364000000]: Loading gazebo_ros_control plugin
[ INFO] [1673811892.578354027, 0.364000000]: Starting gazebo_ros_control plugin in namespace: /vs060
[ INFO] [1673811892.578880402, 0.364000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ERROR] [1673811892.693412669, 0.364000000]: No p gain specified for pid. Namespace: /vs060/gazebo_ros_control/pid_gains/joint_1
[ERROR] [1673811892.694172037, 0.364000000]: No p gain specified for pid. Namespace: /vs060/gazebo_ros_control/pid_gains/joint_2
[ERROR] [1673811892.694896561, 0.364000000]: No p gain specified for pid. Namespace: /vs060/gazebo_ros_control/pid_gains/joint_3
[ERROR] [1673811892.695630012, 0.364000000]: No p gain specified for pid. Namespace: /vs060/gazebo_ros_control/pid_gains/joint_4
[ERROR] [1673811892.696352135, 0.364000000]: No p gain specified for pid. Namespace: /vs060/gazebo_ros_control/pid_gains/joint_5
[ERROR] [1673811892.697015979, 0.364000000]: No p gain specified for pid. Namespace: /vs060/gazebo_ros_control/pid_gains/joint_6
[ INFO] [1673811892.701814784, 0.364000000]: Loaded gazebo_ros_control.
[ INFO] [1673811892.704449577, 0.367000000]: Loading planning pipeline ''
[INFO] [1673811892.706600, 0.369000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [1673811892.709431, 0.372000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1673811892.711928, 0.374000]: Loading controller: joint_state_controller
[INFO] [1673811892.724390, 0.387000]: Loading controller: arm_controller
[ INFO] [1673811892.756673112, 0.419000000]: Using planning interface 'OMPL'
[ INFO] [1673811892.760983282, 0.424000000]: Param 'default_workspace_bounds' was not set. Using default value: 10
[INFO] [1673811892.761330, 0.424000]: Controller Spawner: Loaded controllers: joint_state_controller, arm_controller
[ INFO] [1673811892.761427895, 0.424000000]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1673811892.761804085, 0.424000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1673811892.762604304, 0.425000000]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1673811892.763087140, 0.426000000]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1673811892.763535951, 0.426000000]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1673811892.763612816, 0.426000000]: Using planning request adapter 'Add Time Optimal Parameterization'
[ INFO] [1673811892.763661011, 0.426000000]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1673811892.763691683, 0.426000000]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1673811892.763724563, 0.426000000]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1673811892.763759762, 0.426000000]: Using planning request adapter 'Fix Start State Path Constraints'
[INFO] [1673811892.768180, 0.431000]: Started controllers: joint_state_controller, arm_controller
[ INFO] [1673811894.729083611, 2.345000000]: Loading robot model 'vs060'...
[ INFO] [1673811894.729161155, 2.345000000]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1673811896.374986747, 3.949000000]: Starting planning scene monitor
[ INFO] [1673811896.379436405, 3.953000000]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1673811897.033363227, 4.595000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1673811897.904253795, 5.446000000]: Waiting for vs060/arm_controller/follow_joint_trajectory to come up
[ INFO] [1673811902.050558053, 9.474000000]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1673811902.050760674, 9.474000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1673811904.057450145, 11.446000000]: Waiting for vs060/arm_controller/follow_joint_trajectory to come up
[ERROR] [1673811910.184540524, 17.447000000]: Action client not connected: vs060/arm_controller/follow_joint_trajectory
[ INFO] [1673811910.196207945, 17.458000000]: Returned 0 controllers in list
[ INFO] [1673811910.228441745, 17.490000000]: Trajectory execution is managing controllers
[ INFO] [1673811910.228514137, 17.490000000]: MoveGroup debug mode is OFF
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1673811910.401372631, 17.656000000]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1673811910.402979645, 17.658000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1673811910.403041923, 17.658000000]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1673811911.459208309, 18.700000000]: Ready to take commands for planning group arm.
In the code block above, observe the error:
[ WARN] [1673811904.057450145, 11.446000000]: Waiting for vs060/arm_controller/follow_joint_trajectory to come up
[ERROR] [1673811910.184540524, 17.447000000]: Action client not connected: vs060/arm_controller/follow_joint_trajectory
[ INFO] [1673811910.196207945, 17.458000000]: Returned 0 controllers in list
The "action client not connected" error wasn't appearing before I replaced the controller. And now there is no controller spawned. Note that the PID gains error doesn't affect the output with the JointTrajectoryController so I am hoping that it can be ignored, unless it is mandatory for JointGroupPositionController, something I am not aware of. However, on checking the list of available controllers through rosservice call /vs060/controller_manager/list_controllers I get the following output:
controller:
-
name: "joint_state_controller"
state: "running"
type: "joint_state_controller/JointStateController"
claimed_resources:
-
hardware_interface: "hardware_interface::JointStateInterface"
resources: []
-
name: "arm_controller"
state: "running"
type: "position_controllers/JointGroupPositionController"
claimed_resources:
-
hardware_interface: "hardware_interface::PositionJointInterface"
resources:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
One can see that the JointGroupPositionController is shown as running so I am really confused why it couldn't spawn through the controller_spawner. I am new to ROS-Control and the relatively extinct documentation of some of the ROS controllers doesn't help much. I will really appreciate it if I can get some help with a solution to this problem. Any leads to the right docs or forum to look at in case this is not the right place to ask about this will be really helpful too or in case I missed some good reference or documentation about ros controllers somewhere.
Thank you.
Unable to find package: controller_interface / Melodic compatibility
Hello,
I'm currently trying to control a VS6577 robot using this package on ROS Melodic. So far, I am capable of running my project in Gazebo and the robot responds to commands issued to it through RViz. Upon trying to run the project live, I get this issue each time:
[INFO] [1563483607.986431]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1563483608.501582364]: Stereo is NOT SUPPORTED
[ INFO] [1563483608.502584956]: OpenGl version: 4.6 (GLSL 4.6).
Succeeded in initializing the robot
terminate called after throwing an instance of 'pluginlib::ClassLoaderException'
what(): Unable to find package: controller_interface
[vs6577/denso_robot_control-3] process has died [pid 7375, exit code -6, cmd /home/cerlabdesktop/depowdering/devel/lib/denso_robot_control/denso_robot_control __name:=denso_robot_control __log:=/home/cerlabdesktop/.ros/log/05037648-a99f-11e9-b1c8-509a4c1bf48c/vs6577-denso_robot_control-3.log].
log file: /home/cerlabdesktop/.ros/log/05037648-a99f-11e9-b1c8-509a4c1bf48c/vs6577-denso_robot_control-3*.log
[ INFO] [1563483611.815198199]: Loading robot model 'vs6577'...
[ WARN] [1563483611.847747450]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/rviz_cerlabdesktop_7343_8363000961692927200/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1563483611.946172416]: Starting planning scene monitor
[ INFO] [1563483611.948721503]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1563483611.949409933]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1563483612.922922069]: Waiting for vs6577/arm_controller/follow_joint_trajectory to come up
[ INFO] [1563483616.968889332]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-melodic-moveit-ros-planning-1.0.1/planning_scene_monitor/src/planning_scene_monitor.cpp:495
[ INFO] [1563483617.022663224]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1563483618.923391565]: Waiting for vs6577/arm_controller/follow_joint_trajectory to come up
[ERROR] [1563483624.923596247]: Action client not connected: vs6577/arm_controller/follow_joint_trajectory
[ INFO] [1563483624.937697712]: Returned 0 controllers in list
[ INFO] [1563483624.946942656]: Trajectory execution is managing controllers
After getting this issue the first time, the error message switches to:
[ INFO] [1563817852.069669255]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1563817852.069702949]: Starting planning scene monitor
[ INFO] [1563817852.070955503]: Listening to '/planning_scene'
[ INFO] [1563817852.070974178]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1563817852.072195642]: Listening to '/collision_object' using message notifier with target frame 'world '
[ INFO] [1563817852.073332544]: Listening to '/planning_scene_world' for planning scene world geometry
[ERROR] [1563817852.085463921]: Failed to connect real controller. (83501032)
[ INFO] [1563817852.090143339]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1563817852.109059295]: Initializing OMPL interface using ROS parameters
[ INFO] [1563817852.123005684]: Using planning interface 'OMPL'
[ INFO] [1563817852.126260570]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1563817852.126581205]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1563817852.126824031]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1563817852.127085783]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1563817852.127306797]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1563817852.127531568]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1563817852.127573359]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1563817852.127593317]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1563817852.127622302]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1563817852.127648352]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1563817852.127672739]: Using planning request adapter 'Fix Start State Path Constraints'
[FATAL] [1563817852.129933186]: Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller_manager/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_controller_manager_example/MoveItExampleControllerManager moveit_fake_controller_manager/MoveItFakeControllerManager
[ INFO] [1563817852.137131077]: Trajectory execution is managing controllers
At this point, I need to restart the robot controller in order to return to the first error message (controller_interface not found). I've tried uninstalling ros-melodic-controllers and ros_control and recompiling them as part of the project. ROS itself can find the controller_interface package; it is also listed as required in the package.xml and CMakeLists.txt. The project compiles as well, it just fails to run in non-simulation mode.
Is this a known Melodic issue? The project otherwise works in Melodic so far, and I would prefer to keep using our 18.04 setup if possible.
How to change the joint limit of cobotta arm
I try to write moveit python file to control the arm, I write several points, sometimes the moveit plan is successful, but when the arm moves, it will reach the joint limit, the arm led will turn yellow, I think it may be a joint limit setting in control box, so I want to ask you how to set that. Looking forward to your reply! Thank you very much.
Failed to clear error (83500372) for COBOTTA
I'm trying to control COBOTTA (Standard OS) with ROS.
When I launch denso_robot_control.launch, "Invalid robot type." error happens.
roslaunch denso_robot_control denso_robot_control.launch ip_address:=192.168.0.1
After I change robot_name in vs060.launch.xml to CVR038A1-NV6-NNN-NNNMA-NNNA,
"Failed to clear error. (83500372)" error happens.
Log for first command.
started roslaunch server http://jolteon:36495/
SUMMARY
========
PARAMETERS
* /robot_description: <robot name="vs06...
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /vs060/arm_controller/joints: ['joint_1', 'join...
* /vs060/arm_controller/type: position_controll...
* /vs060/arm_group: 0
* /vs060/config_file: /home/ros_catkin_...
* /vs060/conn_type: tcp
* /vs060/controller_name:
* /vs060/controller_type: 8
* /vs060/invoke_timeout: 180000
* /vs060/ip_address: 192.168.0.1
* /vs060/joint_1: 1
* /vs060/joint_2: 1
* /vs060/joint_3: 1
* /vs060/joint_4: 1
* /vs060/joint_5: 1
* /vs060/joint_6: 1
* /vs060/joint_state_controller/publish_rate: 125
* /vs060/joint_state_controller/type: joint_state_contr...
* /vs060/port_number: 5007
* /vs060/recv_format: 292
* /vs060/retry_count: 5
* /vs060/robot_joints: 6
* /vs060/robot_name: VS060A3-AV6-NNN-NNN
* /vs060/send_format: 288
* /vs060/timeout: 3000
* /vs060/wait_time: 0
* /vs060/watchdog_timer: 400
NODES
/vs060/
controller_spawner (controller_manager/spawner)
denso_robot_control (denso_robot_control/denso_robot_control)
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ROS_MASTER_URI=http://localhost:11311
process[vs060/denso_robot_control-1]: started with pid [3487]
process[vs060/controller_spawner-2]: started with pid [3488]
[INFO] [1608624696.206270]: Controller Spawner: Waiting for service controller_manager/load_controller
process[robot_state_publisher-3]: started with pid [3493]
[ERROR] [1608624699.855982384]: Invalid robot type.
[vs060/denso_robot_control-1] process has finished cleanly
log file: /root/.ros/log/c1b722e6-4415-11eb-bb67-dc7196a46e56/vs060-denso_robot_control-1*.log
^C[robot_state_publisher-3] killing on exit
[vs060/controller_spawner-2] killing on exit
[WARN] [1608624702.846087]: Controller Spawner couldn't find the expected controller_manager ROS interface.
shutting down processing monitor...
... shutting down processing monitor complete
done
Log for second command.
PARAMETERS
* /robot_description: <robot name="vs06...
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /vs060/arm_controller/joints: ['joint_1', 'join...
* /vs060/arm_controller/type: position_controll...
* /vs060/arm_group: 0
* /vs060/config_file: /home/ros_catkin_...
* /vs060/conn_type: tcp
* /vs060/controller_name:
* /vs060/controller_type: 8
* /vs060/invoke_timeout: 180000
* /vs060/ip_address: 192.168.0.1
* /vs060/joint_1: 1
* /vs060/joint_2: 1
* /vs060/joint_3: 1
* /vs060/joint_4: 1
* /vs060/joint_5: 1
* /vs060/joint_6: 1
* /vs060/joint_state_controller/publish_rate: 125
* /vs060/joint_state_controller/type: joint_state_contr...
* /vs060/port_number: 5007
* /vs060/recv_format: 292
* /vs060/retry_count: 5
* /vs060/robot_joints: 6
* /vs060/robot_name: CVR038A1-NV6-NNN-...
* /vs060/send_format: 288
* /vs060/timeout: 3000
* /vs060/wait_time: 0
* /vs060/watchdog_timer: 400
NODES
/vs060/
controller_spawner (controller_manager/spawner)
denso_robot_control (denso_robot_control/denso_robot_control)
/
robot_state_publisher (robot_state_publisher/robot_state_publisher)
ROS_MASTER_URI=http://localhost:11311
process[vs060/denso_robot_control-1]: started with pid [3559]
process[vs060/controller_spawner-2]: started with pid [3563]
[INFO] [1608625036.935672]: Controller Spawner: Waiting for service controller_manager/load_controller
process[robot_state_publisher-3]: started with pid [3565]
[ERROR] [1608625040.682752542]: Failed to clear error. (83500372)
[vs060/denso_robot_control-1] process has finished cleanly
log file: /root/.ros/log/c1b722e6-4415-11eb-bb67-dc7196a46e56/vs060-denso_robot_control-1*.log
How do I launch Pac Scripts on the Cobotta using Ros?
I have created a few pac scripts on my Cobotta (non OSS type). The scripts are located on the Cobotta. In the past, I launched these scripts using Virtual TP, but is it also possible to launch them using ros? I have already changed the executable token to Ethernet. I would imagine there is a way to start a specific pac script by its name, could that be and if so how? Thank you in advance.
Is there any way to call `bcap_service` from python script?
Is there any way to call bcap_service from python script? Like rosrun denso_robot_bringup gripper.py?
I have been trying to write client node in python, but since bcap_service server side was written in C++, i can't pass arguments to variant[] vntArgs (there is no variant type in python, only has list type).
Here is the code:
#create handler to call the service bcap_service = rospy.ServiceProxy('bcap_service', bcap) #define the request func_id = 3 vt = 8 value_1 = 'b-CAP' value_2 = 'CaoProv.DENSO.VRC' value_3 = 'localhost' value_4 = '' vntArgs = [vt, value_1, vt, value_2, vt, value_3, vt, value_4] #call the service by passing the request to the handler response = bcap_service(func_id, vntArgs)
Originally posted by @bmunkhtulga in #13 (comment)
How can I use the camera on the Cobotta in ROS?
Hello,
I am currently in the process of controlling the Cobotta with ROS.
Now we had the idea to use the camera (N10-W02) as a trigger signal (e.g. via OpenCV) to execute a certain task. I can access the web interface. All attempts to reach a possibly existing stream or to take a picture with the camera failed in Ubuntu.
However, using Windows programs from Denso, the camera image can be reached via the corresponding IP address. So it must work somehow, even if the Canon manual says that it is a proprietary transmission protocol.
If it doesn't work at all, is there any other way to use the camera in ROS somehow? Possibly via EVP?
Thanks a lot!
Suggestion to fix bug in updating speed/acceleration parameters
What happened
I tried to update the speed limit of VS-068, following the procedure written in http://wiki.ros.org/denso_robot_ros/AcquireVelAcc .
After that, I tested whether the speed limit was correctly updated by doing
roslaunch denso_robot_bringup vs068_bringup.launch sim:=false ip_address:=192.168.0.1
which resulted that, the robot didn't move fast, indicating that the speed limit was not updated.
Then I checked vs068_config/joint_limits.yaml, and found that spaces between colon and argument value are missing.
For example,
joint_1: has_velocity_limits:true max_velocity:3.92699081698724 has_acceleration_limits:true max_acceleration:19.7335651876739
should be corrected like
joint_1: has_velocity_limits: true max_velocity: 3.92699081698724 has_acceleration_limits: true max_acceleration: 19.7335651876739
After adding spaces in this file, the robot moved fast and the speed limit was correctly updated.
What I suggest
Update update_joint_limits.py so that the spaces are correctly inserted when doing rosrun denso_robot_bringup update_joint_limits.py vs068 ~/joint_limits.yaml.
slvSendFormat Invalid argument value
Hello,
Currently this error occurs in my environment and roslaunch does not start.
Do you know the cause of this error?
[ERROR] [1644898133.732331467]: Invalid argument value (send_format = 0x120)
[ERROR] [1644898133.736452154]: Failed to change to slave mode: 未定義エラーです。 (80070057)
[vs050a3/denso_robot_control-3] process has finished cleanly
Environment
VS050A3-AV6-NNN-NNN
RC8-VSA-NNNM-NN-NN Ver 1.5.8
ROS Melodic
GitBranch Master
1.Create a description file for VS050A3 using the ROS converter.
2.ROS Tool I tried to get the speed information using Acquire VelAcc, but an error occurred and I could not get it. Therefore, copy the joint limits file of the VS060 file on Github.
3.License registration of b-cap slave to teaching pendant
Operating procedure
Change the teaching pendant to AUTO mode
roslaunch denso_robot_bringup vs050a3_bringup.launch sim:=false ip_address:=192.168.0.2
After starting roslaunch, the motor will start.
Execution status
yo4hi6o@yo4hi6o:~/denso_ws$ roslaunch denso_robot_bringup vs050a3_bringup.launch sim:=false ip_address:=192.168.0.2
... logging to /home/yo4hi6o/.ros/log/fba5e768-8e14-11ec-993e-54ab3a5cd6b4/roslaunch-yo4hi6o-15450.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://yo4hi6o:44025/
SUMMARY
========
PARAMETERS
* /joint_state_publisher/publish_frequency: 125.0
* /joint_state_publisher/source_list: ['/vs050a3/joint_...
* /joint_state_publisher/use_gui: False
* /move_group/allow_trajectory_execution: True
* /move_group/arm/longest_valid_segment_fraction: 0.05
* /move_group/arm/planner_configs: ['SBLkConfigDefau...
* /move_group/arm/projection_evaluator: joints(joint_1,jo...
* /move_group/capabilities: move_group/MoveGr...
* /move_group/controller_list: [{'default': True...
* /move_group/controller_manager_ns: controller_manager
* /move_group/jiggle_fraction: 0.05
* /move_group/max_range: 5.0
* /move_group/max_safe_path_cost: 1
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_resolution: 0.025
* /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
* /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
* /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
* /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
* /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
* /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
* /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
* /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
* /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
* /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
* /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
* /move_group/planning_plugin: ompl_interface/OM...
* /move_group/planning_scene_monitor/publish_geometry_updates: True
* /move_group/planning_scene_monitor/publish_planning_scene: True
* /move_group/planning_scene_monitor/publish_state_updates: True
* /move_group/planning_scene_monitor/publish_transforms_updates: True
* /move_group/request_adapters: default_planner_r...
* /move_group/sensors: []
* /move_group/start_state_max_bounds_error: 0.1
* /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
* /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
* /move_group/trajectory_execution/allowed_start_tolerance: 0.01
* /move_group/use_controller_manager: True
* /robot_description: <?xml version="1....
* /robot_description_kinematics/arm/kinematics_solver: kdl_kinematics_pl...
* /robot_description_kinematics/arm/kinematics_solver_search_resolution: 0.005
* /robot_description_kinematics/arm/kinematics_solver_timeout: 0.005
* /robot_description_planning/joint_limits/joint_1/has_acceleration_limits: True
* /robot_description_planning/joint_limits/joint_1/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_1/max_acceleration: 19.7335651877
* /robot_description_planning/joint_limits/joint_1/max_velocity: 3.92699081699
* /robot_description_planning/joint_limits/joint_2/has_acceleration_limits: True
* /robot_description_planning/joint_limits/joint_2/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_2/max_acceleration: 16.8446962098
* /robot_description_planning/joint_limits/joint_2/max_velocity: 2.61799387799
* /robot_description_planning/joint_limits/joint_3/has_acceleration_limits: True
* /robot_description_planning/joint_limits/joint_3/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_3/max_acceleration: 20.7088551737
* /robot_description_planning/joint_limits/joint_3/max_velocity: 2.85832571599
* /robot_description_planning/joint_limits/joint_4/has_acceleration_limits: True
* /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_4/max_acceleration: 20.9664657713
* /robot_description_planning/joint_limits/joint_4/max_velocity: 3.92699081699
* /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
* /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_5/max_acceleration: 23.722864259
* /robot_description_planning/joint_limits/joint_5/max_velocity: 3.02168853398
* /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
* /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
* /robot_description_planning/joint_limits/joint_6/max_acceleration: 33.5103216383
* /robot_description_planning/joint_limits/joint_6/max_velocity: 6.28318530718
* /robot_description_semantic: <?xml version="1....
* /rosdistro: melodic
* /rosversion: 1.14.12
* /rviz_yo4hi6o_15450_5623600324430190867/arm/kinematics_solver: kdl_kinematics_pl...
* /rviz_yo4hi6o_15450_5623600324430190867/arm/kinematics_solver_search_resolution: 0.005
* /rviz_yo4hi6o_15450_5623600324430190867/arm/kinematics_solver_timeout: 0.005
* /vs050a3/arm_controller/joints: ['joint_1', 'join...
* /vs050a3/arm_controller/type: position_controll...
* /vs050a3/arm_group: 0
* /vs050a3/bcap_slave_control_cycle_msec: 8
* /vs050a3/config_file: /home/yo4hi6o/den...
* /vs050a3/conn_type: tcp
* /vs050a3/controller_name:
* /vs050a3/controller_type: 8
* /vs050a3/invoke_timeout: 180000
* /vs050a3/ip_address: 192.168.0.2
* /vs050a3/joint_1: 1
* /vs050a3/joint_2: 1
* /vs050a3/joint_3: 1
* /vs050a3/joint_4: 1
* /vs050a3/joint_5: 1
* /vs050a3/joint_6: 1
* /vs050a3/joint_state_controller/publish_rate: 125
* /vs050a3/joint_state_controller/type: joint_state_contr...
* /vs050a3/port_number: 5007
* /vs050a3/recv_format: 292
* /vs050a3/retry_count: 5
* /vs050a3/robot_joints: 6
* /vs050a3/robot_name: VS050A3-AV6-NNN-NNN
* /vs050a3/send_format: 288
* /vs050a3/timeout: 3000
* /vs050a3/wait_time: 0
* /vs050a3/watchdog_timer: 400
NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
move_group (moveit_ros_move_group/move_group)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz_yo4hi6o_15450_5623600324430190867 (rviz/rviz)
/vs050a3/
controller_spawner (controller_manager/spawner)
denso_robot_control (denso_robot_control/denso_robot_control)
auto-starting new master
process[master]: started with pid [15467]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to fba5e768-8e14-11ec-993e-54ab3a5cd6b4
process[rosout-1]: started with pid [15485]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [15492]
process[vs050a3/denso_robot_control-3]: started with pid [15493]
process[vs050a3/controller_spawner-4]: started with pid [15494]
process[robot_state_publisher-5]: started with pid [15495]
process[move_group-6]: started with pid [15501]
process[rviz_yo4hi6o_15450_5623600324430190867-7]: started with pid [15506]
[ INFO] [1644898132.469110372]: Loading robot model 'vs050a3'...
[ INFO] [1644898132.470352529]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1644898132.570447110]: rviz version 1.13.23
[ INFO] [1644898132.570539901]: compiled against Qt version 5.9.5
[ INFO] [1644898132.570566722]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1644898132.585870064]: Forcing OpenGl version 0.
[ INFO] [1644898132.648919526]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1644898132.653997221]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1644898132.654193245]: Starting planning scene monitor
[ INFO] [1644898132.656493773]: Listening to '/planning_scene'
[ INFO] [1644898132.656637044]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1644898132.658912273]: Listening to '/collision_object'
[ INFO] [1644898132.662624630]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1644898132.678474706]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1644898132.702455682]: Initializing OMPL interface using ROS parameters
[ INFO] [1644898132.719181083]: Using planning interface 'OMPL'
[ INFO] [1644898132.724038618]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1644898132.725250210]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1644898132.725970148]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1644898132.727128274]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1644898132.727569705]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1644898132.728018349]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1644898132.728091070]: Using planning request adapter 'Add Time Optimal Parameterization'
[ INFO] [1644898132.728115361]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1644898132.728136174]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1644898132.728158436]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1644898132.728175384]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1644898132.759050847]: Stereo is NOT SUPPORTED
[ INFO] [1644898132.759170768]: OpenGL device: Mesa DRI Intel(R) HD Graphics 530 (SKL GT2)
[ INFO] [1644898132.759228052]: OpenGl version: 3.0 (GLSL 1.3).
[INFO] [1644898132.894271]: Controller Spawner: Waiting for service controller_manager/load_controller
[ERROR] [1644898133.732331467]: Invalid argument value (send_format = 0x120)
[ERROR] [1644898133.736452154]: Failed to change to slave mode: 未定義エラーです。 (80070057)
[vs050a3/denso_robot_control-3] process has finished cleanly
log file: /home/yo4hi6o/.ros/log/fba5e768-8e14-11ec-993e-54ab3a5cd6b4/vs050a3-denso_robot_control-3*.log
[ INFO] [1644898136.022027993]: Loading robot model 'vs050a3'...
[ INFO] [1644898136.022088662]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1644898136.130906550]: Starting planning scene monitor
[ INFO] [1644898136.133535934]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1644898136.178433875]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ WARN] [1644898137.744554754]: Waiting for arm_controller/follow_joint_trajectory to come up
[ INFO] [1644898141.184602688]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1644898141.184825096]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1644898143.744962090]: Waiting for arm_controller/follow_joint_trajectory to come up
[ERROR] [1644898149.745265812]: Action client not connected: arm_controller/follow_joint_trajectory
[ INFO] [1644898149.764938504]: Returned 0 controllers in list
[ INFO] [1644898149.801690863]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1644898149.929313343]:
********************************************************
* MoveGroup using:
* - ApplyPlanningSceneService
* - ClearOctomapService
* - CartesianPathService
* - ExecuteTrajectoryAction
* - GetPlanningSceneService
* - KinematicsService
* - MoveAction
* - PickPlaceAction
* - MotionPlanService
* - QueryPlannersService
* - StateValidationService
********************************************************
[ INFO] [1644898149.929385283]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1644898149.929424795]: MoveGroup context initialization complete
You can start planning now!
[ INFO] [1644898151.005178974]: Ready to take commands for planning group arm.
[ INFO] [1644898151.005314032]: Looking around: no
[ INFO] [1644898151.005371093]: Replanning: no
^C[rviz_yo4hi6o_15450_5623600324430190867-7] killing on exit
[move_group-6] killing on exit
[robot_state_publisher-5] killing on exit
[vs050a3/controller_spawner-4] killing on exit
[joint_state_publisher-2] killing on exit
[WARN] [1644898158.184648]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Originally posted by @yo4hi6o in #29 (comment)
Could not find joint 'joint_1' in 'hardware_interface::PositionJointInterface'
when i run $ roslaunch denso_robot_gazebo denso_robot_gazebo.launch robot_name:=cobotta
there are some errors: [ERROR] : Could not find joint 'joint_1' in 'hardware_interface::PositionJointInterface'.
[ERROR] : Failed to initialize the controller
[ERROR] : Initializing controller 'arm_controller' failed libGL error: failed to create drawable
[ERROR]: Failed to load arm_controller
if someone can solve it ,thank you very much.
Controlling the speed of the joints, not the position
I'm thnking of controlling the joint by velocity not position.
At this time, I'm considering that acquiring position information and incrementing or decrementing the value according to the speed command. But I don't think it's smart.
Reading the source code, I found that position control is performed in the following part.
Is there a method implemented to control the speed? Also, I would appreciate if there are any other methods or ideas other than the above.
Thank you.
How to change arm to gravity mode in ros
I want to do a camera calibration to arm, but when I take example points of marker, I want to change the arm to gravity mode or teach mode, how can I do that? thanks.
Can this package be adapted to the RC7 Controller?
Since this package uses b-cap and the RC7 controller supports b-cap, I assume this package could be adapted to the RC7 controller although it is not officially supported.
Could someone more knowledgeable confirm this and maybe even provide an estimate for the complexity of doing that?
Are there any showstoppers making it impossible to adapt this code to the RC7?
Does anyone have an idea for an alternative way to use an RC7 controller with ROS?
Thank you!
How to use vacuum gripper using bcap service?
I know I can use the bcap service node to control the electric gripper by doing the following:
Open a new terminal and execute:
ubuntu@roslaunch denso_robot_bringup <launch file of COBOTTA> sim:=false ip_address:=<COBOTTA's IP Address>
Open a second terminal and execute:
ubuntu@roslaunch bcap_service bcap_service.launch ip_address:=<COBOTTA's IP Address>
Open a third terminal and execute:
ubuntu@rosservice call /bcap_service '{func_id: 3, vntArgs: [{vt: 8, value: "b-CAP"}, {vt: 8, value: "CaoProv.DENSO.VRC"}, {vt: 8, value: "localhost"}, {vt: 8, value: ""}] }
Take a look at the returned controller handle value and use it in the following command:
ubuntu@rosservice call /bcap_service '{func_id: 17, vntArgs: [{vt: 19, value: "<controller handle>"}, {vt: 8, value: "HandMoveA"}, {vt: 8195, value: "30, 100"}] }'
Now my question is, how can I do the same with the electric vacuum gripper instead of the standard electric gripper? I imagine there is a similar way, in which the bcap service node can control the vacuum gripper. Maybe by using a different func_id?
Also, is there any official documentation on this? I heard there is a pdf file containing information in the ORiN2 installed folder:
"C:\ORiN2\CAP\b-CAP\CapLib\DENSO\RC8\Doc\b-CAP_Guide_RC8_en.pdf"
I took a look at this file, but unfortunately didn't find anything related to the vacuum gripper there.
Thank you very much in advance
How to use func_id: 72(robot_move) to move the robot to a specific pose?
I used MoveIt to control the arm before, but I often get 8440454* or 8420404* errors when executing the trajectory planned by MoveIt.
So I want to use the /bcap_service service to move the arm to the specific pose by given [x, y, z, rx, ry, rz, fig].
And set the speed/acceleration of the robot.
But I don't know how to set the value of vntArgs.
How to change the b_cap slave mode in ROS for cobotta
Hello, after some testing the cobotta ros driver, we found sometimes the arm moveit will unexpected stop when using moveit (in remote app, there is some errors says "Slvmove instruction is executed in non-subbureau mode" and "instruction delay is generated"). the denso support ask me to change the b_cap slave mode in ros driver, so could you tell me where to change this parameter in this ros package? thanks a lot.
Could you tell us if it is possible to use the DENSO Industrial Robot VS-6556G-B Controller RC7M-VSG6BA ROS?
Currently, I am trying to find a wider use of the DENSO industrial robot VS-6556G-B and OpenCV in combination with AI and robots. So, I'm thinking of using ROS and OpenCV, but could you tell me if it's possible to use controller RC7M-VSG6BA ROS?
Failed to write (83500121) cause by SlvChangeMode(83501032)
I am using denso SCARA robot arm (RC8 HSR048A1). The ubuntu bionic (18.05.5) is running on Virtual Box 6.1.
Following the tutorial in
denso_robot_ros Tutorials
It seeems SlvChangeMode() cause the problems. The bug always happens.
when run
roslaunch denso_robot_bringup line8left_bringup.launch sim:=false ip_address:=192.168.0.1
Get errors:
[ INFO] [1631121744.315385728]: bcap-slave timeout changed to 16 msec [mode: 0x202]
[ERROR] [1631121744.564034131]: Failed to write (83500121)
[ERROR] [1631121744.567636151]: Automatically change to normal mode.
...
[ERROR] [1631121745.020626639]: [2] You cannot execute a command in Slave mode (83501032)
[ERROR] [1631121745.024187088]: [1] SlvMove command was executed while the Slave mode was not selected. (83500121)
In TP, the 1st error is:
You cannot execute a command in slave mode
[OriginalNumber] 83501032
[Description] This operation is not available while the robot is in Slave mode
[Recovery] This command is not available under the Slave mode(range bounded by SlvChangeMode command). Run the command at the outside of the area surround by SlvChangeMode
The 2nd error is:
SlvMove command was executed while the slave mode was not selected
[OriginalNumber] 83500121
[Description] SlvMove command was executed when slave mode was not selected
[Recovery] Switch to the Slave mode and retry
Because my robot is not the default VS060 in this tutorial, line8left was converted by ROSConverter/AcquireVelAcc
Control through API
I want to develop some minimum functionality API like Set Velocity, Set Speed for Denso VP-6242 with RC7M controller is there any option available for python. Any ASCII command's are there.if anything is there kindly share it will very helpful to me.
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