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
What do you mean by 'now' ? Did you do something in your system, like upgrading the packages?
I added some packages, but now I removed them.