Motoman IO control service not advertised?

asked 2020-04-28 13:37:22 -0500

acbuynak
3 ●4 ●7 ●8

Motoman FS100: Integrating IO Control Services Help

Hello! I'm trying to control the IO pins of an Motoman FS100 controller. Single-arm, single-robot group.

Issue: ROS services "readSingleIO" and "writeSingleIO" not appearing once launched and connected to robot controller.
Note: Other services like "robot_enable" are still available.

I don't know how to further troubleshoot this issue. Does anyone have any suggestions?

I am following user gvdhoorn's forked branch, "io_support_rebased" to edit my own fork of the motoman driver.

Versions
ROS Melodic
MotoROS v1.9.1

Code
Integrated IO over two commits:
1. adding ROS services
2. adding convenience class

Relevant Code from CMakeLists
from motoman_driver package/CMakeLists

add_executable(motoman_motion_streaming_interface_bswap
  src/joint_streaming_node.cpp
  src/joint_trajectory_streamer.cpp
  src/motion_ctrl.cpp
  src/motion_ctrl.cpp
  src/io_ctrl.cpp)

from motoman_msgs/CMakeLists

add_service_files(
  DIRECTORY
    srv
  FILES
    CmdJointTrajectoryEx.srv
    ReadSingleIO.srv
    WriteSingleIO.srv
)

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// hacking this in here at this place io_ctrl_.init(connection); this->srv_read_single_io = this->node_.advertiseService("read_single_io", &MotomanJointTrajectoryStreamer::readSingleIoCB, this); this->srv_write_single_io = this->node_.advertiseService("write_single_io", &MotomanJointTrajectoryStreamer::writeSingleIoCB, this);

Comments

This worked! Thanks! To clarify for future reviewers, I mistakenly placed the io_ctrl initialization (first code quoted in above answer) into a similar looking bool group that performed a different function. After moving the placement of the code, everything worked as desired.

acbuynak ( 2020-04-29 10:18:26 -0500 )edit

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