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Problems with move_arm & actionlib [closed]

asked 2012-06-14 23:12:33 -0500

updated 2012-06-15 03:29:21 -0500

Dear All!! I have a problem with move_arm action server. When I send the MoveArmGoal from my client, sometimes the server doesn't receive the message. The first message always works, but after the second that problem may arise.

Anyone else has this problem? Can you help me?

Thanks!

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Closed for the following reason the question is answered, right answer was accepted by Ivan Rojas Jofre
close date 2013-05-12 15:00:07

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More details would help assessing what's wrong. What ROS distro are you using?, is it a PR2 or do you have a custom setup?, in what space is your goal specified, joint or task?. Do the logs say something useful (check relevant nodes all the way down to DEBUG severity)?.

Adolfo Rodriguez T gravatar imageAdolfo Rodriguez T ( 2012-06-14 23:17:27 -0500 )edit

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answered 1 mins ago Ivan Rojas Jofre gravatar image Ivan Rojas Jofre flag of Spain 43 ● 6 http://www.facebook.com/i...

updated just now

Hi Adolfo! You right, I forget this important information, Thanks for reminding

Ivan Rojas Jofre gravatar imageIvan Rojas Jofre ( 2012-06-14 23:46:06 -0500 )edit

I checked the debug, and print this message when arise the problem: Node: /iri_wam_move_arm Time: 277.955000000 Severity: Debug Location: /opt/ros/electric/stacks/common/actionlib/include/actionlib/server/action_server_imp.h:ActionServer<ActionSpec>::goalCallback:256 Published Topics: /rosout, /allowed_contact_regions_array, /move_iri_wam_markers, /move_iri_wam_markers_array, /move_iri_wam/result, /move_iri_wam/feedback, /move_iri_wam/status, /display_path, /display_joint_goal, /iri_wam_move_arm/statistics, /iri_ros_controller/follow_joint_trajectory/goal, /iri_ros_controller/follow_joint_trajectory/cancel

The action server has received a new goal request

Ivan Rojas Jofre gravatar imageIvan Rojas Jofre ( 2012-06-15 00:05:58 -0500 )edit

Can you confirm that your controller implementing the follow_joint_trajectory action also receives the goal generated by move_arm?. Look for a debug message that reads "Figuring out new trajectory at xxx.xxx, with data from yyy.yyy", where xxx.xxx and yyy.yyy are timestamps.

Adolfo Rodriguez T gravatar imageAdolfo Rodriguez T ( 2012-06-17 21:35:20 -0500 )edit

Did you end up figuring this one out?. If so, it would be useful to post the answer here for future reference.

Adolfo Rodriguez T gravatar imageAdolfo Rodriguez T ( 2012-07-05 21:49:07 -0500 )edit

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answered 2012-06-15 04:51:08 -0500

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I checked the debug, and print this message when arise the problem: Node: /iri_wam_move_arm Time: 277.955000000 Severity: Debug Location: /opt/ros/electric/stacks/common/actionlib/include/actionlib/server/action_server_imp.h:ActionServer<actionspec>::goalCallback:256 Published Topics: /rosout, /allowed_contact_regions_array, /move_iri_wam_markers, /move_iri_wam_markers_array, /move_iri_wam/result, /move_iri_wam/feedback, /move_iri_wam/status, /display_path, /display_joint_goal, /iri_wam_move_arm/statistics, /iri_ros_controller/follow_joint_trajectory/goal, /iri_ros_controller/follow_joint_trajectory/cancel

The action server has received a new goal request

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answered 2012-06-14 23:44:01 -0500

updated 2012-06-14 23:45:28 -0500

Hi Adolfo! You right, I forget this important information, Thanks for reminding. I use the ROS Electric distro.The problem arise with Joint Space too and Task Space. Below you add the code of client

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This forum works better for others if you edit your original question rather than adding information as an "answer".

joq gravatar imagejoq ( 2012-06-15 03:53:24 -0500 )edit

ok! Thanks for you comment joq

Ivan Rojas Jofre gravatar imageIvan Rojas Jofre ( 2012-06-15 04:50:40 -0500 )edit

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Asked: 2012-06-14 23:12:33 -0500

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Last updated: Jun 15 '12