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Move_group couldn't find controllers loaded on Raspberry Pi in a ROS network [closed]

asked 2020-05-20 13:17:38 -0500

yiying gravatar image

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7.

I have a Niry One robot arm (with Raspberry Pi 3 inside), and wanted to control it using MoveIt from my laptop. Move_group, however, cannot find the controller that has already been loaded. Please tell me whether what I am trying to do is possible, and if yes, what went wrong here?

A small problem: Why am I getting this Couldn't find an AF_INET address for [matebook-x].

Pi and my matebook-x are in the same wifi network. I have export ROS_MASTER_URI=http://192.168.2.31:11311 on both computers, export ROS_IP=192.168.2.31 on matebook-x and export ROS_IP=192.168.2.36 on Pi over ssh as suggested in this question.

The following log from Pi over ssh shows that niryo_one_follow_joint_trajectory_controller has been sucessfully loaded.

started roslaunch server http://192.168.2.36:39967/

SUMMARY
========

PARAMETERS
 * /niryo_one/hardware_version: 2
 * /niryo_one/info/image_version: 2.2.0
 * /niryo_one/info/niryo_one_one_robot_type: NIRYO_ONE
 * /niryo_one/info/ros_version: 2.2.0
 * /niryo_one/motors/can_required_motors: [1, 2, 3]
 * /niryo_one/motors/dxl_authorized_motors: [2, 3, 6, 11, 12,...
 * /niryo_one/motors/dxl_required_motors: [2, 3, 6]
 * /niryo_one/motors/stepper_1_direction: -1.0
 * /niryo_one/motors/stepper_1_gear_ratio: 6.0625
 * /niryo_one/motors/stepper_1_home_position: 0.0
 * /niryo_one/motors/stepper_1_max_effort: 90
 * /niryo_one/motors/stepper_1_offset_position: 3.05433
 * /niryo_one/motors/stepper_2_direction: -1.0
 * /niryo_one/motors/stepper_2_gear_ratio: 8.3125
 * /niryo_one/motors/stepper_2_home_position: 0.640187
 * /niryo_one/motors/stepper_2_max_effort: 130
 * /niryo_one/motors/stepper_2_offset_position: 0.640187
 * /niryo_one/motors/stepper_3_direction: 1.0
 * /niryo_one/motors/stepper_3_gear_ratio: 7.875
 * /niryo_one/motors/stepper_3_home_position: -1.397485
 * /niryo_one/motors/stepper_3_max_effort: 120
 * /niryo_one/motors/stepper_3_offset_position: -1.397485
 * /niryo_one/motors/stepper_4_direction: -1.0
 * /niryo_one/motors/stepper_4_gear_ratio: 5.0
 * /niryo_one/motors/stepper_4_home_position: 0.0
 * /niryo_one/motors/stepper_4_max_effort: 90
 * /niryo_one/motors/stepper_4_offset_position: 2.791
 * /niryo_one/python_api/action_connection_timeout: 2
 * /niryo_one/python_api/action_execute_timeout: 15
 * /niryo_one/python_api/action_preempt_timeout: 3
 * /niryo_one/python_api/service_timeout: 2
 * /niryo_one/reboot_when_auto_change_version: True
 * /niryo_one/robot_command_validation/joint_limits/j1/max: 3.05433
 * /niryo_one/robot_command_validation/joint_limits/j1/min: -3.05433
 * /niryo_one/robot_command_validation/joint_limits/j2/max: 0.640187
 * /niryo_one/robot_command_validation/joint_limits/j2/min: -1.91986
 * /niryo_one/robot_command_validation/joint_limits/j3/max: 1.570796
 * /niryo_one/robot_command_validation/joint_limits/j3/min: -1.397485
 * /niryo_one/robot_command_validation/joint_limits/j4/max: 3.05433
 * /niryo_one/robot_command_validation/joint_limits/j4/min: -3.05433
 * /niryo_one/robot_command_validation/joint_limits/j5/max: 1.91986
 * /niryo_one/robot_command_validation/joint_limits/j5/min: -1.74533
 * /niryo_one/robot_command_validation/joint_limits/j6/max: 2.57436
 * /niryo_one/robot_command_validation/joint_limits/j6/min: -2.57436
 * /niryo_one/robot_command_validation/position_limits/x/max: 0.5
 * /niryo_one/robot_command_validation/position_limits/x/min: -0.5
 * /niryo_one/robot_command_validation/position_limits/y/max: 0.5
 * /niryo_one/robot_command_validation/position_limits/y/min: -0.5
 * /niryo_one/robot_command_validation/position_limits/z/max: 0.65
 * /niryo_one/robot_command_validation/position_limits/z/min: -0.15
 * /niryo_one/robot_command_validation/rpy_limits/pitch/max: 3.14159
 * /niryo_one/robot_command_validation/rpy_limits/pitch/min: -3.14159
 * /niryo_one/robot_command_validation/rpy_limits/roll/max: 3.14159
 * /niryo_one/robot_command_validation/rpy_limits/roll/min: -3.14159
 * /niryo_one/robot_command_validation/rpy_limits/yaw/max: 3.14159
 * /niryo_one/robot_command_validation/rpy_limits/yaw/min: -3.14159
 * /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/max: 1023
 * /niryo_one/robot_command_validation/tool_limits/gripper_close_speed/min: 0
 * /niryo_one ...
(more)
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Closed for the following reason the question is answered, right answer was accepted by yiying
close date 2020-05-21 10:50:22.339385

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answered 2020-05-20 17:22:37 -0500

yiying gravatar image

Turns out what I considered a small problem is the problem and the fix is to add 192.168.2.31 matebook-x in /etc/hosts on Pi and 192.168.2.36 niryo-desktop in /etc/hosts on my laptop.

The appended line: IP address and hostname for the other computer.

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Asked: 2020-05-20 13:17:38 -0500

Seen: 13 times

Last updated: May 20