# Motoman FS100: Missing velocity and effort in joint_states

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?

( 2017-11-26 23:50:42 -0500 )edit

I added some packages, but now I removed them.

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

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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.

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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.

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