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Motoman FS100: Missing velocity and effort in joint_states

asked 2017-11-26 23:46:38 -0500

akihiko gravatar image

I'm controlling Yaskawa Motoman SIA10F (controller: FS100) over ROS. Previously the /joint_states topic had values of velocity and effort as well as position, but now velocity and effort disappeared (just blank vectors are sent). I removed some newly-installed packages, but they are still blank. Can anyone have ideas to fix this issue?

What I am doing to launch the Motoman system is as follows:

$ roscore
$ rosparam load `rospack find motoman_sia10f_support`/urdf/sia10f.urdf robot_description
$ rosparam set controller_joint_names "[joint_s, joint_l, joint_e, joint_u, joint_r, joint_b, joint_t]"
$ roslaunch motoman_driver robot_interface_streaming_fs100.launch robot_ip:=192.168.12.31
$ rostopic echo /joint_states
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What do you mean by 'now' ? Did you do something in your system, like upgrading the packages?

R. Tellez gravatar image R. Tellez  ( 2017-11-26 23:50:42 -0500 )edit

I added some packages, but now I removed them.

akihiko gravatar image akihiko  ( 2017-11-27 00:16:31 -0500 )edit

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answered 2017-11-27 05:16:36 -0500

gvdhoorn gravatar image

Previously the /joint_states topic had values of velocity and effort as well as position, but now velocity and effort disappeared (just blank vectors are sent).

I believe you are mistaken, because if you are using the motoman_driver (which, from the commands you show, I believe you are) then velocity and effort were never published as part of the JointState msgs by the robot_state publisher. Those are simply not being populated by the current version of the driver.

See also ros-industrial/motoman#174, where this is being tracked and discussed.

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Mmm it could be my mistake. What I'm sure is that I saw a "response" of robot for pushing it. I thought the response was effort, but it could be a slight change of joint positions. You should be right as I am using the pure motoman_driver. Thanks so much.

akihiko gravatar image akihiko  ( 2017-11-27 18:17:49 -0500 )edit

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Asked: 2017-11-26 23:46:38 -0500

Seen: 124 times

Last updated: Nov 27 '17