Re: [ROS-Industrial] motoman ROS-I dx100 service call 'robot enable'

[G.A. vd. Hoorn - 3ME]

On 25-1-2018 23:26, Sinaí Aranda wrote:
> HI,
> I'm trying connect mh6-10 robot motoman with controller dx100 to ROS. I
> have followed tutorials of ROS-I, but I have problems in pc-ROS-client.
>
[..]
>
> What is 'robot enable'? How is call from motoman_driver or
> industrial_robot_client packages? Someone have documentation? literal
> explication.

The robot_enable service is a ROS service that controls (if you will) an
enabling 'switch' inside the motoman driver nodes.

By default, the driver is 'disabled' and will not let any motion
requests through.

After calling the service and enabling the driver, motion requests will
be passed on to the robot controller and you can control the robot using
an action client.

As to how to interact with the service: you can either invoke it from
the command line, using rosservice, or using a regular roscpp/rospy
service client.


Gijs

PS: there was no need to send this message 3 times, nor cross-post it to
ROS Discourse.

[Sinaí Aranda]

What is the service for enable 'switch' inside the motoman driver node?

Thanks!

[G.A. vd. Hoorn - 3ME]

On 01/26/2018 03:48 PM, Sinaí Aranda wrote:
> [image: Imágenes integradas 2]
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> [image: Imágenes integradas 1]
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> What is the service for enable 'switch' inside the motoman driver node?
>
> [image: Imágenes integradas 7]

I don't see any images, so I don't know what you are referring to.

Also: if you are trying to show us console text, please just copy-paste
it into your email.

The service is called 'robot_enable'. See also [1].


Gijs

[1]
https://github.com/ros-industrial/motoman/blob/808a8c16d9120814c11438b8809cfb957bf3a70f/motoman_driver/src/joint_trajectory_streamer.cpp#L91

[Sinaí Aranda]

El viernes, 26 de enero de 2018, 6:22:27 (UTC-6), gavanderhoorn escribió:

[Sinaí Aranda]

HI Gijs,

I have trying run the node of service, but I don't see the service. You can help me?, how run node service?.

thanks

[G.A. vd. Hoorn - 3ME]

On 2-2-2018 16:59, Sinaí Aranda wrote:
> HI Gijs,
>
> I have trying run the node of service, but I don't see the service. You can
> help me?, how run node service?.

Running 'rosservice list' does not show a 'robot_enable' service after
you have started the driver?


Gijs

[Sinaí Aranda]

No, just show me this:

sda20@sda20-Aspire-S3:~/sda20_ws$ rosservice list
/joint_state/get_loggers
/joint_state/set_logger_level
/joint_trajectory_action/get_loggers
/joint_trajectory_action/set_logger_level
/motion_streaming_interface/get_loggers
/motion_streaming_interface/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level
sda20@sda20-Aspire-S3:~/sda20_ws$ rosservice call /joint_trajectory_action/
/joint_trajectory_action/get_loggers
/joint_trajectory_action/set_logger_level
sda20@sda20-Aspire-S3:~/sda20_ws$ rosservice call /joint_trajectory_action/get_loggers
loggers:
  -
    name: ros
    level: info
  -
    name: ros.industrial_robot_client
    level: info
  -
    name: ros.industrial_utils
    level: info
  -
    name: ros.roscpp
    level: info
  -
    name: ros.roscpp.roscpp_internal
    level: info
  -
    name: ros.roscpp.superdebug
    level: warn

[Sinaí Aranda]

How start the driver?

El viernes, 2 de febrero de 2018, 10:01:09 (UTC-6), gavanderhoorn escribió:

[Sinaí Aranda]

Problem is resolved with configuration ip ethernet pc to the same domain that ip robot. THANKS

El viernes, 26 de enero de 2018, 6:22:27 (UTC-6), gavanderhoorn escribió: