Move_to_joint.py

[仇隽挺]

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]

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]

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]"