Move_to_joint.py

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仇隽挺

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Oct 29, 2014, 7:12:18 AM10/29/14
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rosrun motoman_driver move_to_joint.py "[position]"

Robot  type : yaksawa 20d xd100

Joint state:

name: ['joint_1 , 'joint_2 , 'joint_3 , 'joint_4 , 'joint_5 , 'joint_6']
position: [1, 0 ,1, 1 , 1,  0 ]
velocity: []
effort: []


[ERROR] Start and End position joint_name mismatch

[ERROR] [WallTime: 1414508621.823816] Unable to move to commanded position. Aborting.
Traceback (most recent call last):
  File "/home/ubuntu/tsbb11/catkin_ws/src/motoman/motoman_driver/src/move_to_joint.py", line 133, in <module>
    main(sys.argv[1:])
  File "/home/ubuntu/tsbb11/catkin_ws/src/motoman/motoman_driver/src/move_to_joint.py", line 127, in main
    move_to_joint(end_pos, duration)
  File "/home/ubuntu/tsbb11/catkin_ws/src/motoman/motoman_driver/src/move_to_joint.py", line 69, in move_to_joint
    traj = build_traj(get_cur_pos(), end_pos, duration)
  File "/home/ubuntu/tsbb11/catkin_ws/src/motoman/motoman_driver/src/move_to_joint.py", line 47, in get_cur_pos
    return rospy.wait_for_message("joint_states", JointState, 5.0)
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rospy/client.py", line 408, in wait_for_message
    raise rospy.exceptions.ROSException("timeout exceeded while waiting for message on topic %s"%topic)
rospy.exceptions.ROSException: timeout exceeded while waiting for message on topic joint_states

I want to use ros to move the robot by using this according to the tutorial.

Could anyone help with those?

付中涛

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Sep 1, 2016, 6:18:52 AM9/1/16
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have you solved it?

在 2014年10月29日星期三 UTC+8下午7:12:18,仇隽挺写道:

Sinaí Aranda

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Feb 15, 2018, 10:08:26 AM2/15/18
to swri-ros-pkg-dev
You try this: 
Joint Naming --------> http://wiki.ros.org/motoman_driver/Tutorials/Usage (rename joint to same joint name urdf)
You get the position vector /joint_states for modify this position and move.


Example*
echo /joint_states ------>"[0, 3.455, 2.214, -5.654, 2.432, 0.008]"

rosrun motoman_driver move_to_joint.py "[-1.234, 3.455, 2.214, -5.654, 2.432, 0.008]"
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