On 3-1-2018 14:08, Batu Akan wrote:
> Hi Shaun,
>
> I have been in touch with Ted Miller from Yaskawa and Yaskawa Nordic
> helped us to setup the motoros on the controller.
>
> State Server works, because after i connect to the controller, if i jog
> the robot manually i can see that the simulation gets updated. I guess
> this is indication that the state server is running.
>
> Further more, if i manually start executing the INIT_ROS infrom file and
> then switch to remote mode on the controller, and then connect to the
> controller with the motoman driver, i can send motion instructions and
> the physical robot performs them as instructed.
> According to Ted Miller, and our support contact at Yaskawa Nordic, and
> when we look at the network trafic from ROS to YRC1000, we see that the
> ROS is not sending the “start trajectory mode” (robot-enable) command.
> It just keeps sending a the “stop trajectory mode” command and then
> rechecking if the controller is “motion ready”.
>
> My understanding based on the tutorials is that ROS should start the
> execution of INIT_ROS when the controlle ris in remote mode and then
> send the joint values to move to the robot.
>
> Is my understanding correct? If so how can i solve or gather more
> information about this problem?
Have you invoked the /robot_enable service as indicated on the
Troubleshooting page?
Gijs
> On Tuesday, December 26, 2017 at 6:33:23 PM UTC+1, Shaun Edwards wrote:
>
> Batu,
>
> Are you sure the joint states are correct? The blue screen capture
> indicates differently. The "StateServer Send failure..." message
> likely means it's not sending that state info.
>
> -Shaun
>
> On Mon, Dec 25, 2017 at 9:02 AM <
batu...@gmail.com <javascript:>> wrote:
>
> Hello,
>
> I have been trying to establish a connection between ROS
> industrial with Moveit, and the Yaskawa GP8 with YRC1000 controller.
> I have created urdf models for the GP8 robot, support files and
> the moveit, both can be found under
>
>
https://github.com/batuakan/yaskawa_gp8_support.git
> <
https://github.com/batuakan/yaskawa_gp8_support.git>
>
>
https://github.com/batuakan/yaskawa_gp8_moveit_config.git
> <
https://github.com/batuakan/yaskawa_gp8_moveit_config.git>
>
> I can get the fake controller and the rviz running and working
> fine. I can connect to the real controller using
>
> roslaunch yaskawa_gp8_moveit_config
> moveit_planning_execution.launch robot_ip:=(ip to the robot)
> controller:=yrc1000 sim:=false
>
> and read the joint value of the real robot into rviz. However,
> when i try to move the real robot after planning i get the
> following errors.
>
>
> <
https://lh3.googleusercontent.com/-PziFFuKg1Eo/WjesjdWbblI/AAAAAAAAM8g/xAYYo6YIfC0-ud2fcXk2jgGX2tOiec_CACLcBGAs/s1600/ROSConsole.png><
https://lh3.googleusercontent.com/-y-Ztd08kOIo/WjetI5dIZUI/AAAAAAAAM8o/6fn0XK47q4cgqRLLnWqkfmZ74E7tuFZxwCLcBGAs/s1600/ControllerConsole.png>
>
>
>
>
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>
> motoman drivers troubleshooting
> <
http://wiki.ros.org/action/show/motoman_driver/Troubleshooting?action=show&redirect=motoman%2FTroubleshooting#ROS_Errors> guide
> suggests that to solve the problem /robot_enable service must be
> called before motion commands are send.
> I am confused by this statement. Do i need to launch other
> nodes/packages?
> How do i solve this issue? and enable the robot?
>
> Any help is appreciated.
> Best regards
> Batu
>
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> Shaun Edwards
>
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