Error when connecting with Motoman robot

[julio cesar garcia carrero]

Hello,

I created a MoveIt package for my Motoman robot (which has two external axes), so when I execute

roslaunch motoman_mh6full_moveit_config demo.launch

it works well.

Now, I try to connect to the real robot with

roslaunch motoman_mh6full_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=168.176.36.217 controller:=dx100 version0:=false

But the next error appears

[ERROR] [1449534989.245140619]: Message callback for message type: 17, not executed

How could I fix it?

Thank you

[Shaun Edwards]

https://groups.google.com/forum/#!msg/swri-ros-pkg-dev/lLYStm6_8I8/VmO-JxOiBAAJ 

--
You received this message because you are subscribed to the Google Groups "swri-ros-pkg-dev" group.
To unsubscribe from this group and stop receiving emails from it, send an email to swri-ros-pkg-d...@googlegroups.com.
For more options, visit https://groups.google.com/d/optout.

[julio cesar garcia carrero]

Hello,
I read it previously, but don't get the ASSERTION FAILED error (even when modified the launch file as Ali suggested). And actually I tried to launch

roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=XXX.XXX.XXX.X

But it doesn't work neither.

Thank you

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

On 8-12-2015 17:45, julio cesar garcia carrero wrote:
> Hello,
> I read it previously, but don't get the ASSERTION FAILED error (even when
> modified the launch file as Ali suggested). And actually I tried to launch

I think the point shaun is trying to make is that you should check
whether you have the correct version of both the MotoPlus side of the
code, as well as the ROS side.

Jeremy Zoss explained it in his post in that thread:

"It looks to me like you’re still mixing software versions between
the MotoPlus software installed on the controller and the ROS software
you’re running.

The error message you’re seeing is generated by the MessageManager
object when it receives an incoming message that has no corresponding
MessageHandler defined for it (see here). On 5/30/2014, v1.2.0 of the
MotoPlus driver added the use of message type 17 to transfer current
joint-state data from the robot to ROS, but no corresponding ROS message
handlers were created. On 8/22/2014, v1.2.4 of the MotoPlus driver
moved this functionality to message type 2017, and the corresponding
message-type support was added to the ROS driver.

Try using a current version of the ROS driver (> 8/22/2014) for both the
MotoPlus and ROS sides, to make sure the message-type definitions are
compatible with both sides of the communications interface."

[julio cesar garcia carrero]

Hi, I installed the Motoman package and MotoROS available here https://github.com/ros-industrial/motoman

Then I launch

roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=168.176.36.217

So, I get

started roslaunch server http://juliocesar-laptop:39092/

SUMMARY
========

PARAMETERS
 * /robot_ip_address: 168.176.36.217
 * /rosdistro: indigo
 * /rosversion: 1.11.8
 * /version0: False

NODES
  /
    joint_state (motoman_driver/robot_state)
    joint_trajectory_action (motoman_driver/motoman_driver_joint_trajectory_action)
    motion_streaming_interface (motoman_driver/motion_streaming_interface)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[joint_state-1]: started with pid [11248]
terminate called after throwing an instance of 'XmlRpc::XmlRpcException'
process[motion_streaming_interface-2]: started with pid [11266]
terminate called after throwing an instance of 'XmlRpc::XmlRpcException'
[joint_state-1] process has died [pid 11248, exit code -6, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/joint_state-1.log].
log file: /home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/joint_state-1*.log
process[joint_trajectory_action-3]: started with pid [11284]
terminate called after throwing an instance of 'XmlRpc::XmlRpcException'
[motion_streaming_interface-2] process has died [pid 11266, exit code -6, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/motion_streaming_interface __name:=motion_streaming_interface __log:=/home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/motion_streaming_interface-2.log].
log file: /home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/motion_streaming_interface-2*.log
[joint_trajectory_action-3] process has died [pid 11284, exit code -6, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/motoman_driver_joint_trajectory_action __name:=joint_trajectory_action __log:=/home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/joint_trajectory_action-3.log].
log file: /home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/joint_trajectory_action-3*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

And with

roslaunch motoman_mh6full_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=168.176.36.217 controller:=dx100 version0:=false

it shows

process[joint_state-1]: started with pid [11435]
[FATAL] [1449703752.476519192]: ASSERTION FAILED
    file = /home/juliocesar/catkin_ws/src/motoman-indigo-devel/motoman_driver/src/industrial_robot_client/joint_relay_handler.cpp
    line = 320
    cond = all_joint_state.positions.size() == all_joint_names.size()

process[motion_streaming_interface-2]: started with pid [11465]
process[joint_trajectory_action-3]: started with pid [11536]
[joint_state-1] process has died [pid 11435, exit code -5, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/joint_state-1.log].
log file: /home/juliocesar/.ros/log/c8977772-9ecb-11e5-b6ae-dca97142d524/joint_state-1*.log
process[robot_state_publisher-4]: started with pid [11660]
process[move_group-5]: started with pid [11683]
process[rviz_juliocesar_laptop_11416_781841072-6]: started with pid [11707]
[ INFO] [1449703753.089719085]: Loading robot model 'motoman_mh6full'...
[ INFO] [1449703753.239303200]: rviz version 1.11.7
[ INFO] [1449703753.239428938]: compiled against OGRE version 1.8.1 (Byatis)
process[mongo_wrapper_ros_juliocesar_laptop_11416_398005847-7]: started with pid [11727]
[ INFO] [1449703753.499965566]: Stereo is NOT SUPPORTED
[ INFO] [1449703753.500844941]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1449703753.751762891]: Loading robot model 'motoman_mh6full'...
[ INFO] [1449703754.117304648]: Loading robot model 'motoman_mh6full'...
[ERROR] [1449703754.380508444]: Group 'base' is not a chain
[ERROR] [1449703754.380576348]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'base'
[ERROR] [1449703754.380958462]: Kinematics solver could not be instantiated for joint group base.
[ INFO] [1449703754.384971067]: Loading robot model 'motoman_mh6full'...
[ERROR] [1449703754.700002393]: Group 'mh6' is not a chain
[ERROR] [1449703754.700073193]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'mh6'
[ERROR] [1449703754.700345750]: Kinematics solver could not be instantiated for joint group mh6.
[ INFO] [1449703754.704474380]: Loading robot model 'motoman_mh6full'...
[ERROR] [1449703754.943394119]: Group 'station' is not a chain
[ERROR] [1449703754.943467307]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'station'
[ERROR] [1449703754.943733343]: Kinematics solver could not be instantiated for joint group station.
[ INFO] [1449703755.007805268]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1449703755.011663779]: MoveGroup debug mode is OFF
Starting context monitors...
[ INFO] [1449703755.011747227]: Starting scene monitor
[ INFO] [1449703755.015445589]: Listening to '/planning_scene'
[ INFO] [1449703755.015492370]: Starting world geometry monitor
[ INFO] [1449703755.019972587]: Listening to '/collision_object' using message notifier with target frame '/base_rail_link '
[ INFO] [1449703755.025397461]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1449703755.053380968]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1449703755.155111795]: Initializing OMPL interface using ROS parameters
[ INFO] [1449703755.206824578]: Using planning interface 'OMPL'
[ INFO] [1449703755.279455115]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1449703755.280735746]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1449703755.281841077]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1449703755.283480834]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1449703755.284477130]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1449703755.285989356]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1449703755.286155420]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1449703755.286206576]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1449703755.286244660]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1449703755.286281164]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1449703755.286316927]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1449703755.674072624]: MoveitSimpleControllerManager: Added FollowJointTrajectory controller for
[ INFO] [1449703758.348087480]: Loading robot model 'motoman_mh6full'...
[ INFO] [1449703758.757311082]: Loading robot model 'motoman_mh6full'...
[ INFO] [1449703759.029350609]: Loading robot model 'motoman_mh6full'...
[ERROR] [1449703759.352628675]: Group 'base' is not a chain
[ERROR] [1449703759.352730029]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'base'
[ERROR] [1449703759.353297235]: Kinematics solver could not be instantiated for joint group base.
[ INFO] [1449703759.358275824]: Loading robot model 'motoman_mh6full'...
[ERROR] [1449703759.692665151]: Group 'mh6' is not a chain
[ERROR] [1449703759.692751246]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'mh6'
[ERROR] [1449703759.693102331]: Kinematics solver could not be instantiated for joint group mh6.
[ INFO] [1449703759.697850148]: Loading robot model 'motoman_mh6full'...
[ERROR] [1449703759.990181657]: Group 'station' is not a chain
[ERROR] [1449703759.990259788]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'station'
[ERROR] [1449703759.990523972]: Kinematics solver could not be instantiated for joint group station.
[ INFO] [1449703760.083207693]: Starting scene monitor
[ INFO] [1449703760.090921115]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1449703760.094269424]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1449703760.686698753]: MoveitSimpleControllerManager: Waiting for mh6/mh6_r1_controller/joint_trajectory_action to come up
[ WARN] [1449703765.094624794]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20151112-0345/planning_scene_monitor/src/planning_scene_monitor.cpp:461
[ INFO] [1449703765.686941342]: MoveitSimpleControllerManager: Waiting for mh6/mh6_r1_controller/joint_trajectory_action to come up
[ INFO] [1449703765.805899591]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1449703765.815043520]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [1449703770.687065277]: MoveitSimpleControllerManager: Action client not connected: mh6/mh6_r1_controller/joint_trajectory_action
[ INFO] [1449703775.707270776]: MoveitSimpleControllerManager: Waiting for mh6/mh6_b1_controller/joint_trajectory_action to come up
[ INFO] [1449703780.707459385]: MoveitSimpleControllerManager: Waiting for mh6/mh6_b1_controller/joint_trajectory_action to come up
[ERROR] [1449703785.707690812]: MoveitSimpleControllerManager: Action client not connected: mh6/mh6_b1_controller/joint_trajectory_action
[ INFO] [1449703790.820097077]: MoveitSimpleControllerManager: Waiting for mh6/mh6_s1_controller/joint_trajectory_action to come up
[ INFO] [1449703795.820211837]: MoveitSimpleControllerManager: Waiting for mh6/mh6_s1_controller/joint_trajectory_action to come up
[ERROR] [1449703795.849488252]: Unable to connect to move_group action server within allotted time (2)
[ INFO] [1449703795.854897033]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [1449703800.820346801]: MoveitSimpleControllerManager: Action client not connected: mh6/mh6_s1_controller/joint_trajectory_action
[ INFO] [1449703800.825243973]: Returned 1 controllers in list
[ INFO] [1449703800.842368808]: Trajectory execution is managing controllers
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
[ INFO] [1449703801.094694468]:

********************************************************
* MoveGroup using:
*     - CartesianPathService
*     - ExecutePathService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
*     - GetPlanningSceneService
*     - ExecutePathService
********************************************************

[ INFO] [1449703801.094868817]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1449703801.094925424]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

[ INFO] [1449703801.772760349]: Ready to take MoveGroup commands for group arm.
[ INFO] [1449703801.773067864]: Looking around: no
[ INFO] [1449703801.773290138]: Replanning: no

[julio cesar garcia carrero]

[ WARN] [1449703765.094624794]: Failed to call service /get_planning_scene, have you launched move_group? at /tmp/buildd/ros-indigo-moveit-ros-planning-0.6.5-0trusty-20151112-0345/planning_scene_monitor/src/planning_scene_monitor.cpp:461

[ INFO] [1449703765.815043520]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [1449703770.687065277]: MoveitSimpleControllerManager: Action client not connected: mh6/mh6_r1_controller/joint_trajectory_action
[ INFO] [1449703775.707270776]: MoveitSimpleControllerManager: Waiting for mh6/mh6_b1_controller/joint_trajectory_action to come up
[ INFO] [1449703780.707459385]: MoveitSimpleControllerManager: Waiting for mh6/mh6_b1_controller/joint_trajectory_action to come up
[ERROR] [1449703785.707690812]: MoveitSimpleControllerManager: Action client not connected: mh6/mh6_b1_controller/joint_trajectory_action
[ INFO] [1449703790.820097077]: MoveitSimpleControllerManager: Waiting for mh6/mh6_s1_controller/joint_trajectory_action to come up
[ INFO] [1449703795.820211837]: MoveitSimpleControllerManager: Waiting for mh6/mh6_s1_controller/joint_trajectory_action to come up
[ERROR] [1449703795.849488252]: Unable to connect to move_group action server within allotted time (2)
[ INFO] [1449703795.854897033]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [1449703800.820346801]: MoveitSimpleControllerManager: Action client not connected: mh6/mh6_s1_controller/joint_trajectory_action

[ INFO] [1449703801.094868817]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1449703801.094925424]: MoveGroup context initialization complete

All is well! Everyone is happy! You can start planning now!

Then Rviz shows the robot, but I can't execute trajectories

[julio cesar garcia carrero]

roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=168.176.36.217

... logging to /home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/roslaunch-juliocesar-laptop-19672.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://juliocesar-laptop:38642/

SUMMARY
========

PARAMETERS
 * /robot_ip_address: 168.176.36.217
 * /rosdistro: indigo
 * /rosversion: 1.11.8
 * /version0: False

NODES
  /
    joint_state (motoman_driver/robot_state)
    joint_trajectory_action (motoman_driver/motoman_driver_joint_trajectory_action)
    motion_streaming_interface (motoman_driver/motion_streaming_interface)

auto-starting new master
process[master]: started with pid [19684]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 55eb9e7c-9ed2-11e5-ad68-dca97142d524
process[rosout-1]: started with pid [19697]
started core service [/rosout]
process[joint_state-2]: started with pid [19714]

terminate called after throwing an instance of 'XmlRpc::XmlRpcException'

process[motion_streaming_interface-3]: started with pid [19732]

terminate called after throwing an instance of 'XmlRpc::XmlRpcException'

process[joint_trajectory_action-4]: started with pid [19750]
[joint_state-2] process has died [pid 19714, exit code -6, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/joint_state-2.log].
log file: /home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/joint_state-2*.log

terminate called after throwing an instance of

'XmlRpc::XmlRpcException'
[motion_streaming_interface-3] process has died [pid 19732, exit code -6, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/motion_streaming_interface __name:=motion_streaming_interface __log:=/home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/motion_streaming_interface-3.log].
log file: /home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/motion_streaming_interface-3*.log
[joint_trajectory_action-4] process has died [pid 19750, exit code -6, cmd /home/juliocesar/catkin_ws/devel/lib/motoman_driver/motoman_driver_joint_trajectory_action __name:=joint_trajectory_action __log:=/home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/joint_trajectory_action-4.log].
log file: /home/juliocesar/.ros/log/55eb9e7c-9ed2-11e5-ad68-dca97142d524/joint_trajectory_action-4*.log

[Shaun Edwards]

Julio,

Your email came across as multiple long emails.  I think gmail choked on them, so it's a little hard to debug your issue.  I believe the drive is failing to find the group config that is now required to support multi-arm control.  Even if your robot does not have multiple arms, you will still need to provide this config file, see http://wiki.ros.org/motoman_driver/Tutorials/Creating%20a%20Dual-Arm%20System .  In your case you should only have a single group in the State and Motion Interface yaml files.

-Shaun

[julio cesar garcia carrero]

Shaun,

Thanks for your answer. Actually I have three groups in the yaml files.

State interface
topics_list:
 - state:
    - group:
       - group_number: 0
         name: mh6_arm_controller
         ns: mh6
         joints: ['arm_joint_s', 'arm_joint_l', 'arm_joint_u', 'arm_joint_r', 'arm_joint_b', 'arm_joint_t']
    - group:
       - group_number: 1
         name: mh6_base_controller
         ns: mh6
         joints: ['base_joint_b1']
    - group:
       - group_number: 2
         name: mh6_station_controller
         ns: mh6
         joints: ['station_joint_s1']
 - status:
    - name: mh6_arm_status

Motion interface
topic_list
    - name: mh6_arm_controller
      ns: mh6
      group: 1
      joints: ['arm_joint_s', 'arm_joint_l', 'arm_joint_u', 'arm_joint_r', 'arm_joint_b', 'arm_joint_t']
    - name: mh6_base_controller
      ns: mh6
      group: 2
      joints: ['base_joint_b1']
    - name: mh6_station_controller
      ns: mh6
      group: 3
      joints: ['station_joint_s1']

So, should I delete the groups #2 and #3? or include all joints in just a single group?
Thank you.

[julio cesar garcia carrero]

Hi,
I tried with

roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=168.176.36.217

(I updated the ROS version previously) and get the message Jeremy says:

[ERROR] [1449788502.788899499]: Message callback for message type: 2017, not executed