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Unable to enable drive power (5006)
From the robot controller's perspective, the ROS nodes are no different from other "external" sources of control (a PLC fi).
So all the same safety systems are in place and you need to take care of all the same safety requirements.
The error message tells you that the controller has determined that it cannot enable motor power and therefore the robot_enable service call returns an error.
The Usage: Robot Controller section of the Using the Motoman FS/DX/YRC ROS Interface tutorial lists the minimum requirements for external control to be possible:
Prior to executing ROS motion:
- Make sure the robot controller is ready:
- Installation and setup of MotoROS driver must be complete
- Pendant key switch must be in Remote mode
- The E-stop latch must be released
Furthermore the standard safety conditions must be met: any fences closed, all e-stops released (also external ones), and no inhibiting devices (ie: a PLC) can be actively keeping the robot in an error state.
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