Help with Fanuc M-710iC/50

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Hi,

This is a continuation of the conversation from the github issue of fanuc_driver as per the request of the maintainer. You can find the original conversation here.

Answer to the questions raised by gavanderhoorn there:

Ok, so steps 1 & 2 of Running the ROS-Industrial programs on your Fanuc robot are successful? The robot visualised in RViz shows the same motion as the real one.

Yes. I made sure that the RVIZ was reading the robot states and as I manually moved the robot joints using the pendant, I could see it move on RVIZ.

Is this still with only rosstate running on the robot?

Again: you're only running rosstate at this point?

If you answered yes to all my questions, then you should essentially move to step 3 of the tutorial I linked ("On the TP, start the ros TPE program"). In order for the robot to execute your trajectories, you need to be running the ros TP program. rosstate, as the name implies, only broadcasts joint states, it cannot perform any motion.

Yes. I was only running rostate at that point. After reading your response I ran ros from TPE (which, correct me of I'm wrong, has RUN ROS_STATE, RUN ROS_MOVESM, CALL ROX_RELAY). RIVZ is still able to read the states from the robot but even now sending commands to the robot does not work.

For example, I still get controller takes too long error:

[ INFO] [1438288838.217184191]: ParallelPlan::solve(): Solution found by one or more threads in 0.122578 seconds
[ INFO] [1438288838.217382544]: manipulator[RRTkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1438288838.217470676]: manipulator[RRTkConfigDefault]: Starting planning with 1 states already in datastructure
[ INFO] [1438288838.232510276]: manipulator[RRTkConfigDefault]: Created 9 states
[ INFO] [1438288838.272224274]: manipulator[RRTkConfigDefault]: Created 37 states
[ INFO] [1438288838.272384298]: ParallelPlan::solve(): Solution found by one or more threads in 0.055077 seconds
[ INFO] [1438288838.274225942]: SimpleSetup: Path simplification took 0.001782 seconds and changed from 3 to 2 states
[ERROR] [1438288841.993446399]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 3.708576 seconds). Stopping trajectory.
[ INFO] [1438288841.993557245]: MoveitSimpleControllerManager: Cancelling execution for 
[ INFO] [1438288842.099845429]: ABORTED: Timeout reached

If you can tell me which particular variant of the M-710iC you have, I might have an unreleased support pkg for it.

Let me know if you need any more details about the robot.

I just realized when setting things up, for the TPE Programs section, I just left everything at default. I am referring to this because I didn't know how to edit it using the teach pendant (in particular, I didn't know how to get the colon in 1:ROS-I rdy). I'm not sure if this will cause any problems but thought I should let you know about it.

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Ok. Please tell me exactly how you setup your workspace, which versions of the packages you installed, what you installed, and what you are trying to run ...