ERROR: Controller is not ready (code: 5000). Can't process ROS_MSG_JOINT_TRAJ_PT_FULL ???

asked 2019-01-08 08:52:17 -0500

SinaiAranda gravatar image

Hi, I use the bimanual robot SDA20D with Motoplus and ROS Kinetic (this). Before I didn' a problem, but now this show in Motoplus.

image description

image description

In the joint states show that torso_b1:

header: seq: 40365 stamp: secs: 1546901453 nsecs: 720045395 frame_id: name: [torso_joint_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.

edit retag flag offensive close merge delete

Comments

Before I didn' a problem, but now this show in Motoplus.

I'm not sure I completely understand your description.

Have you changed anything on the controller? Or did you only recreate your workspace?

gvdhoorn gravatar imagegvdhoorn ( 2019-01-08 10:03:25 -0500 )edit

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.

SinaiAranda gravatar imageSinaiAranda ( 2019-01-08 12:50:26 -0500 )edit

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.

gvdhoorn gravatar imagegvdhoorn ( 2019-01-08 14:59:21 -0500 )edit