FS100 issue: Failed to connect to server

[f.hau...@gmail.com]

Hello everyone,

I managed to install the Motoman/fs100 package. I followed the following instructions:

- http://www.ros.org/wiki/fs100/Tutorials

- Plus what Eric said in the "Motoman FS100 support", being:

 

The other frequent problem is that the controller need to be in "Remote" mode on the pendant and enable to receive "Remote Command".  The later step is often forgotten.  On the programming pendant, select "IN/OUT" --> PSEUDO INPUT SIG" than make sure that the input #82015 CMD REMOTE SEL is turned on.  If you need to turn it on, make sure your security level is set to "Management", then move the cursor in the circle beside the input and press INTERLOCK + SELECT to turn it on.

I put the FS100 in remote mode and called:

roslaunch fs100 robot_interface.launch robot_ip:=10.0.0.4

This is the traceback:

[ INFO] [1376053313.557411256]: Added message handler for message type: 0

[ INFO] [1376053313.560822645]: Robot state connecting to IP address: '10.0.0.4:50241'

[ WARN] [1376053313.562024023]: Unable to find user-specified joint names in 'controller_joint_names'

[ WARN] [1376053313.563302142]: Unable to find URDF joint names in 'robot_description'

[ INFO] [1376053313.563544647]: Using standard 6-DOF joint names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

[ERROR] [1376053313.564209532]: Failed to connect to server, rc: -1, errno: 111

[ INFO] [1376053313.564321848]: Initializing message manager with default comms fault handler

[ INFO] [1376053313.564421667]: Default communications fault handler successfully initialized

[ INFO] [1376053313.564512561]: Initializing message manager

[ INFO] [1376053313.564608732]: Added message handler for message type: 1

[ INFO] [1376053313.568828486]: Added message handler for message type: 10

[ INFO] [1376053313.570017593]: Added message handler for message type: 15

[ INFO] [1376053313.571315588]: Entering message manager spin loop

[ INFO] [1376053313.571463444]: Connection failed, attempting reconnect

[ERROR] [1376053313.572254133]: Failed to connect to server, rc: -1, errno: 111

[ WARN] [1376053313.572359153]: Not connected, bytes not sent

[ERROR] [1376053313.572453072]: Failed to receive message length

[ERROR] [1376053313.572542582]: Failed to receive incoming message

[ WARN] [1376053313.572630723]: Send failure, no callback support

WARNING: Package name "SIA20D_Mesh_arm_navigation" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

process[motion_streaming_interface-3]: started with pid [4150]

[ INFO] [1376053313.688575648]: Joint Trajectory Interface connecting to IP address: '10.0.0.4:50240'

[ WARN] [1376053313.689814449]: Unable to find user-specified joint names in 'controller_joint_names'

[ WARN] [1376053313.690782194]: Unable to find URDF joint names in 'robot_description'

[ INFO] [1376053313.690917012]: Using standard 6-DOF joint names: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

[ INFO] [1376053313.690986682]: FS100_JointTrajectoryStreamer: init

[ INFO] [1376053313.691035906]: JointTrajectoryStreamer: init

[ERROR] [1376053313.691736216]: Failed to connect to server, rc: -1, errno: 111

[ WARN] [1376053313.692682833]: Unable to read velocity limits from 'robot_description' param.  Velocity validation disabled.

[ INFO] [1376053313.701374899]: Unlocking mutex

[ INFO] [1376053313.701517513]: Starting FS100 joint trajectory streamer thread

[ INFO] [1376053313.706694100]: Connecting to robot motion server

[ERROR] [1376053313.707367845]: Failed to connect to server, rc: -1, errno: 111

WARNING: Package name "SIA20D_Mesh_arm_navigation" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

process[joint_trajectory_action-4]: started with pid [4172]

[ERROR] [1376053313.957530904]: Timeout connecting to robot controller.  Send new motion command to retry.

[ INFO] [1376053318.572823638]: Connection failed, attempting reconnect

[ERROR] [1376053318.573500053]: Failed to connect to server, rc: -1, errno: 111

[ WARN] [1376053318.573555025]: Not connected, bytes not sent

[ERROR] [1376053318.573613563]: Failed to receive message length

[ERROR] [1376053318.573654219]: Failed to receive incoming message

[ WARN] [1376053318.573779151]: Send failure, no callback support

Can you help me with this?

Thanks in advance

Flavian Hautbois

[Zoss, Jeremy K.]

Flavian,

 

Socket error 111 indicates “connection refused” by the FS100 controller.  The ROS messages look like it’s trying to connect to the correct socket/port, but it’s possible that there is some other configuration-related issue.  Here are some suggestions for things you might try:

 

- Have you reviewed your controller configuration with Motoman?  The ROS driver requires additional threads and parameters settings beyond the “stock” controller setup.

 

- Log in to the controller using the telnet interface in the MotoPlus IDE to view the controller-side log messages.

 

- Inspect the communications stream using WireShark or a similar tool.  A WireShark dissector has been developed to aid debugging ROS-I communications.   I don’t know that this will show much, since the connection is being rejected before any real data is sent.

 

- Motoman has a standalone windows-based tool for communicating with the FS100 ROS driver.  If you contact your Motoman representative, they may be able to supply you with this tool for debugging independently from ROS.

 

Please let us know if these tests provide any further information,

  Jeremy Zoss

  Southwest Research Institute

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[eric....@motoman.com]

Flavian,

Note that your local Motoman representative may not know much about ROS and it's requirement.

It's better to contact Motoman technical support (in the US) at: techs...@motoman.com

or by phone: 937-847-3200.

If the issue is complex or you are looking for experimental stuff like the new DX100 driver, they'll transfer the case to probably me or someone from our software development group.

Eric Marcil

Senior Project Engineer

Product Development

Yaskawa Motoman Robotics

[f.hau...@gmail.com]

Thanks Jeremy, I'll test that and keep you posted.

Could you be more specific about "The ROS driver requires additional threads and parameters settings beyond the “stock” controller setup."?

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[Zoss, Jeremy K.]

I believe that the default FS100 setup allows maybe 2-3 concurrent MotoPlus threads.  However, the MotoROS driver uses maybe 4-5 threads.  When we were initially setting up our FS100 controller, we saw a few errors where the controller did not respond as expected, which were eventually tracked back to thread-limits preventing full functionality on the controller side.  I think the thread limits are somewhat arbitrary, and put in place to help prevent MotoPlus code from over-using controller resources.  The MotoROS code is well-designed, and should not affect normal controller operation.

 

I think there may be other internal parameters that are set/modified, but I’m not sure.  I think Motoman prefers to review controller configurations to make sure that they are compatible with MotoROS.  This probably helps prevent lots of troubleshooting calls later if things don’t work as expected.

 

- Jeremy

 

From: f.hau...@gmail.com [mailto:f.hau...@gmail.com]
Sent: Monday, August 19, 2013 3:29 AM
To: swri-ros...@googlegroups.com
Cc: Zoss, Jeremy K.
Subject: Re: [swri-ros-pkg-dev] FS100 issue: Failed to connect to server

 

Thanks Jeremy, I'll test that and keep you posted.

 

Could you be more specific about "The ROS driver requires additional threads and parameters settings beyond the “stock” controller setup."?

Le vendredi 9 août 2013 17:04:36 UTC+2, Zoss, Jeremy K. a écrit :

Flavian,

 

Socket error 111 indicates “connection refused” by the FS100 controller.  The ROS messages look like it’s trying to connect to the correct socket/port, but it’s possible that there is some other configuration-related issue.  Here are some suggestions for things you might try:

 

- Have you reviewed your controller configuration with Motoman?  The ROS driver requires additional threads and parameters settings beyond the “stock” controller setup.

 

- Log in to the controller using the telnet interface in the MotoPlus IDE to view the controller-side log messages.

 

- Inspect the communications stream using WireShark or a similar tool.  A WireShark dissector has been developed to aid debugging ROS-I communications.   I don’t know that this will show much, since the connection is being rejected before any real data is sent.

 

- Motoman has a standalone windows-based tool for communicating with the FS100 ROS driver.  If you contact your Motoman representative, they may be able to supply you with this tool for debugging independently from ROS.

 

Please let us know if these tests provide any further information,

  Jeremy Zoss

  Southwest Research Institute

 

To unsubscribe from this group and stop receiving emails from it, send an email to swri-ros-pkg-d...@googlegroups.com.

[ted miller]

The first step would be to verify that MotoROS is the only application installed on your controller. 

> Boot into MAINTENANCE mode by holding [Main Menu].

> Upgrade to MANAGEMENT security by touching [System] > [Security].

> Touch [MotoPlus APL] > [List] to see what file(s) are loaded on the controller.  If there are additional items in the list, then your parameters will need to be adjusted more than normal for ROS.

 

The next step is to save a copy of your parameter file and send to Motoman Tech Support (techs...@motoman.com).  They will be able to compare your file to proper settings and adjust as required.

In normal operation mode, you can save your parameter file by touching [Ex Memory] > [Save] > "Parameters" > "Batch  (ALL.PRM)".  When you send your ALL.PRM file, make sure to notify them if you have any additional MotoPlus applications loaded on your controller.

 

-Ted Miller

Yaskawa Motoman

>>> "Zoss, Jeremy K." <jerem...@swri.org> 8/19/2013 9:14 AM >>>

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