Comments (10)
That seems to work. My code is here rivelinrobotics@d34b4ad if anyone is interested in cherry-picking it into a PR.
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Looks like MotomanJointTrajectoryStreamer::create_message
uses a setRobotID
method, which is presumably getting the wrong id from somewhere. I'll see if I can find out where and how to fix it.
from motoman.
Okay, I think I understand what's happening. JointTrajectoryStreamer::jointCommandCB
calls MotomanJointTrajectoryStreamer::create_message(..., JointTrajectoryPoint, ...)
, which uses setRobotId(robot_id_)
.
What I think I need is MotomanJointTrajectoryStreamer::create_message(..., DynamicJointsGroup, ...)
, which uses setRobotId(pt.group_number)
.
So I guess I need to write a JointTrajectoryStreamer::jointCommandCB(DynamicJointTrajectoryConstPtr)
.
from motoman.
Thanks for reporting on your progress + solution.
I noticed rivelinrobotics#1 was closed, not merged.
Did you discover something that was not correct in the end, or was the PR just for running CI?
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I have fixed the various MoveIt connections which were causing most of the issues in #585, such that we don't need #259 or #488.
late perhaps, but I would really recommend you do in fact incorporate the changes from #488.
The multi-group implementation in HEAD
is incomplete, and #488 does fix some of those issues.
from motoman.
Thanks for reporting on your progress + solution.
👍
I noticed rivelinrobotics#1 was closed, not merged.
Did you discover something that was not correct in the end, or was the PR just for running CI?
This was just because the branching in our fork is a mess. We decided to make a new master
branch, rather than updating our kinetic-devel
branch. We are now using the contents of that PR.
If we need to keep using motoman1 for much longer we will need to tidy up our fork, but we're hoping to migrate to motoros2 before that is necessary.
from motoman.
we're hoping to migrate to motoros2 before that is necessary.
in this context feedback/input on Yaskawa-Global/motoros2#186 would be highly welcome.
from motoman.
I have fixed the various MoveIt connections which were causing most of the issues in #585, such that we don't need #259 or #488.
late perhaps, but I would really recommend you do in fact incorporate the changes from #488.
The multi-group implementation in
HEAD
is incomplete, and #488 does fix some of those issues.
Our current solution appears to be working, so we're reluctant to make more changes unless something stops working. If we end up sticking with motoros1 for much longer and come across any problems we will look at #488 again.
from motoman.
we're hoping to migrate to motoros2 before that is necessary.
in this context feedback/input on Yaskawa-Global/motoros2#186 would be highly welcome.
Sure thing. We are about half way through our migration to ROS2, and we haven't got to the motoman migration yet. No doubt we will have lots of feedback/input when we get to that stage.
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Actually, you're right, that discussion does look relevant to us at this stage. I'll discuss with the team, and hopefully someone will contribute soon.
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Related Issues (20)
- robot_enable service fails on YRC1000
- Can't start driver correctly on Yaskawa HC10DTP
- HC10DTP not working with MoveIt HOT 1
- GP20 Support files
- Control HC10DTP using an Xbox 360 joystick in real-time
- HC10DTP + MoveIt - Running into singularities
- motoman_driver - simple_message not available
- Update installation procedure and troubleshooting HOT 1
- ERROR :MESSAGE CALLBACK FOR MESSAGE type :2017 , not executed
- Unwanted motion when switching pendant mode HOT 2
- Motoman Ros I/O read/write error HOT 1
- Log Space: missing
- Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111): MOTOMAN Driver HOT 1
- Error handling of action server (joint_trajectory_action) HOT 1
- Trajectory start position doesn't match current robot position (3011) when using multiple groups HOT 16
- DX100 / SIA50D stops moving after several trajectories (no error / alarm)
- How to set Goal Threshold for JointTrajectoryAction
- Robot doesn't reach commanded joint state HOT 10
- Add Support for AR 1440 Robot
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