ERROR: Controller is not ready (code: 5000). Can't process ROS_MSG_JOINT_TRAJ_PT_FULL ???
Hi, I use the bimanual robot SDA20D with Motoplus and ROS Kinetic (this). Before I didn' a problem, but now this show in Motoplus.
In the joint states show that torso_b1:
header: seq: 40365 stamp: secs: 1546901453 nsecs: 720045395 frame_id: name: [torso_joint_b1] position: [1.5380859252900336e-08] velocity: [0.0]
effort: []
The position in real robot is 180º grades in joint state b1 is 1.5380859252900336e-08±1e-08.
Now create a new workspace, I clone motoman driver and insdustrial core, the same motoman sda20 package, and I install motoros dx100_181 again. I have the same error.
I'm not sure I completely understand your description.
Have you changed anything on the controller? Or did you only recreate your workspace?
The arms are working without problem, but the torso not move. The joint state torso b1 say 0.00. I previously did not have this problem. I can move the torso con the teach pendant and the joint state changes values 1e-8. When I do send a trajectory no match the joint states and this show error.
I'm sorry, but I still don't understand.
Can you make a short wireshark capture with some traffic between your ROS computer and the controller after you've started the driver? Then make that capture available to me.