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You still don't mention which driver / package you are using, so I'm guessing a bit here, but:

I'm not entirely sure, but it's possible that your trajectory is failing to execute because it does not include all the joints that you configured the motion interface with. joint_names_yumi.yaml contains all joints, so any instance of the joint_trajectory_action node will assume it is responsible for all those joints. JointTrajectoryAction::goalCB(..) checks incoming goals to make sure they contain the joints it has been configured with, using industrial_utils::isSimilar(..) here, and it will reject goals for which that function returns false.

It's likely that you have either a single instance of joint_trajectory_action, and are sending goals with per-arm trajectories, or have two instances but have set the parameter only once.

You still don't mention which driver / package you are using, so I'm guessing a bit here, but:

I'm not entirely sure, but it's possible that your trajectory is failing to execute because it does not include all the joints that you configured the motion interface with. joint_names_yumi.yaml contains all joints, so any instance of the joint_trajectory_action node (I am using ROS-Industrial abb_driver and industrial_robot_client terminology) will assume it is responsible for all those joints. JointTrajectoryAction::goalCB(..) checks incoming goals to make sure they contain the joints it has been configured with, using industrial_utils::isSimilar(..) here, and it will reject goals for which that function returns false.

It's likely that you have either a single instance of joint_trajectory_action, and are sending goals with per-arm trajectories, or have two instances but have set the parameter only once.

You still don't mention which driver / package you are using, so I'm guessing a bit here, but:

I'm not entirely sure, but it's possible that your trajectory is failing to execute because it does not include all the joints that you configured the motion interface with. joint_names_yumi.yaml contains all joints, so any instance of the joint_trajectory_action node (I am using ROS-Industrial abb_driver and industrial_robot_client terminology) will assume it is responsible for all those joints. JointTrajectoryAction::goalCB(..) checks incoming goals to make sure they contain the joints it has been configured with, for, using industrial_utils::isSimilar(..) here, and it will reject goals for which that function returns false.

It's likely that you have either a single instance of joint_trajectory_action, and are sending goals with per-arm trajectories, or have two instances but have set the parameter only once.