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Unknown arg attribute command

asked 2019-07-29 14:53:05 -0500

tswie gravatar image

Hello,

I'm currently trying to launch and control a DENSO Arm robot. I recently reinstalled my workspace environment and now upon attempting to connect to the robot, I get the following issue:

    NODES
  /vs6577/
    controller_spawner (controller_manager/spawner)
    denso_robot_control (denso_robot_control/denso_robot_control)
  /
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    mongo_wrapper_ros_cerlabdesktop_Inspiron_5675_13757_8190475192658113537 (warehouse_ros/mongo_wrapper_ros.py)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_cerlabdesktop_Inspiron_5675_13757_5085224700695249472 (rviz/rviz)

WARNING: [/home/cerlabdesktop/Projects/depowdering/src/denso_robot_ros/denso_robot_control/launch/denso_robot_control.launch] unknown <arg> attribute 'command'
auto-starting new master
process[master]: started with pid [13770]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1f029842-b239-11e9-bab1-541379941d11
process[rosout-1]: started with pid [13781]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [13788]
process[vs6577/denso_robot_control-3]: started with pid [13789]
process[vs6577/controller_spawner-4]: started with pid [13790]
process[robot_state_publisher-5]: started with pid [13791]
process[move_group-6]: started with pid [13792]
About to launch drobo
[ WARN] [1564429402.518510464]: Failed to get joint_6 parameter.
[ WARN] [1564429402.519254212]: It was assumed revolute type.
process[rviz_cerlabdesktop_Inspiron_5675_13757_5085224700695249472-7]: started with pid [13798]
ERROR: cannot launch node of type [warehouse_ros/mongo_wrapper_ros.py]: can't locate node [mongo_wrapper_ros.py] in package [warehouse_ros]
[ INFO] [1564429402.589052450]: Loading robot model 'vs6577'...
[ WARN] [1564429402.634981298]: Kinematics solver doesn't support #attempts anymore, but only a timeout.
Please remove the parameter '/robot_description_kinematics/arm/kinematics_solver_attempts' from your configuration.
[ INFO] [1564429402.637668065]: rviz version 1.13.3
[ INFO] [1564429402.637732619]: compiled against Qt version 5.9.5
[ INFO] [1564429402.637747277]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1564429402.720581380]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1564429402.722038477]: MoveGroup debug mode is OFF
Starting planning scene monitors...
[ INFO] [1564429402.722080208]: Starting planning scene monitor
[ INFO] [1564429402.723335016]: Listening to '/planning_scene'
[ INFO] [1564429402.723364834]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1564429402.724646093]: Listening to '/collision_object' using message notifier with target frame 'world '
[ INFO] [1564429402.725857248]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1564429402.740451113]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1564429402.758359862]: Initializing OMPL interface using ROS parameters
[ INFO] [1564429402.773371720]: Using planning interface 'OMPL'
[ INFO] [1564429402.776770133]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1564429402.777196953]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1564429402.777496608]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1564429402.777799018]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1564429402.778077954]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1564429402.778364063]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1564429402.778409250]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1564429402.778426763]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1564429402.778439398]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1564429402.778454056]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1564429402.778473423]: Using planning request adapter 'Fix Start State Path Constraints'
[INFO] [1564429402.858256]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1564429403.414946833]: Stereo is NOT SUPPORTED
[ INFO] [1564429403.415926173]: OpenGl version: 4.6 (GLSL 4.6).
[ERROR] [1564429404.308513243]: Failed to change to slave mode. (83501024 ...
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answered 2019-10-09 07:17:56 -0500

404RobotNotFound gravatar image

If you look here for the argtag, you can see there are only certain attributes you can use inside of them: https://wiki.ros.org/roslaunch/XML/ar.... command is not one of them.

However, what you are trying to do here is use xacro to load the robot description. In this case, you want to use the <param> tag instead of <arg>. It should work then.

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Asked: 2019-07-29 14:53:05 -0500

Seen: 43 times

Last updated: Oct 09