ERROR: Controller is not ready (code: 5000). Can't process ROS_MSG_JOINT_TRAJ_PT_FULL ???
Hi, I use the bimanual robot SDA20D with Motoplus and ROS Kinetic (this). Before I didn' a problem, but now this show in Motoplus.
In the joint states show that torso_b1:
header: seq: 40365 stamp: secs: 1546901453 nsecs: 720045395 frameid: name: [torsojoint_b1] position: [1.5380859252900336e-08] velocity: [0.0]
effort: []
The position in real robot is 180º grades in joint state b1 is 1.5380859252900336e-08±1e-08.
Now create a new workspace, I clone motoman driver and insdustrial core, the same motoman sda20 package, and I install motoros dx100_181 again. I have the same error.
Asked by SinaiAranda on 2019-01-08 09:52:17 UTC
Comments
I'm not sure I completely understand your description.
Have you changed anything on the controller? Or did you only recreate your workspace?
Asked by gvdhoorn on 2019-01-08 11:03:25 UTC
The arms are working without problem, but the torso not move. The joint state torso b1 say 0.00. I previously did not have this problem. I can move the torso con the teach pendant and the joint state changes values 1e-8. When I do send a trajectory no match the joint states and this show error.
Asked by SinaiAranda on 2019-01-08 13:50:26 UTC
I'm sorry, but I still don't understand.
Can you make a short wireshark capture with some traffic between your ROS computer and the controller after you've started the driver? Then make that capture available to me.
Asked by gvdhoorn on 2019-01-08 15:59:21 UTC