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AX12 dual motor index out of range

asked 2011-03-24 22:24:59 -0500

Peter Heim gravatar image

updated 2011-03-25 10:11:49 -0500

tfoote gravatar image

I'm working through the ax12 smart arm tutorials on diamondback with ubuntu 10.4 as soon as i start a dual motor controller i receive this error

[ERROR] [WallTime: 1301047084.826573] bad callback: <bound method JointPositionControllerDualAX12.process_motor_states of <joint_position_controller_dual_motor.JointPositionControllerDualAX12 instance at 0x8f0e06c>>
Traceback (most recent call last):
  File "/opt/ros/diamondback/stacks/ros_comm/clients/rospy/src/rospy/topics.py", line 563, in _invoke_callback
    cb(msg)
  File "/home/peter/ros/ua-ros-pkg/arrg/ua_controllers/ax12_controller_core/src/ax12_controller_core/joint_position_controller_dual_motor.py", line 146, in process_motor_states
    state = states[self.master_id]
IndexError: list index out of range

This error just cycles continuously but the joint will move with commands

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Can you post your controller configuration and output of rostopic echo /motor_states/ttyUSB0?
arebgun gravatar imagearebgun ( 2011-03-25 10:19:30 -0500 )edit
motor_statemotor_states: - timestamp: 1301225172.3 id: 2 goal: 172 position: 171 error: -1 speed: 0 load: 0.0 voltage: 12.7 temperature: 41 moving: False - timestamp: 1301225172.31 id: 3 goal: 737 position: 737 error: 0 speed: 0 load: 0.0 voltage: 13.0 temperature: 41 moving: False - timestamp: 1301225172.31 id: 4 goal: 512 position: 512 error: 0 speed: 0 load: 0.0 voltage: 12.7 temperature: 42 moving: False - timestamp: 1301225172.31 id: 5 goal: 315 position: 315 error: 0 speed: 0 load: 0.0 voltage: 12.7 temperature: 41 moving: False - timestamp: 1301225172.32 id: 6 goal: 862 position: 863 error: 1 speed: 4 load: 0.0078125 voltage: 12.6 temperature: 41 moving: False - timestamp: 1301225172.32 id: 7 goal: 1023 position: 1023 error: 0 speed: 0 load: 0.0 voltage: 13.0 temperature: 40 moving: False - timestamp: 1301225172.33 id: 8 goal: 549 position: 550 error: 1 ...(more)
Peter Heim gravatar imagePeter Heim ( 2011-03-26 23:40:34 -0500 )edit
head_pan_controller: controller: package: ax12_controller_core module: joint_position_controller type: JointPositionControllerAX12 joint_name: head_pan_joint joint_speed: 1.17 motor: id: 7 init: 512 min: 0 max: 1024 head_tilt_controller: controller: package: ax12_controller_core module: joint_position_controller type: JointPositionControllerAX12 joint_name: head_tilt_joint joint_speed: 1.17 motor: id: 8 init: 512 min: 800 max: 300 pan_base_controller: controller: package: ax12_controller_core module: joint_position_controller type: JointPositionControllerAX12 joint_name: base_pan_joint joint_speed: 1.17 motor: id: 3 init: 512 min: 273 max: 751 shoulder_tilt_controller: controller: package: ax12_controller_core module: joint_position_controller_dual_motor type: JointPositionControllerDualAX12 joint_name: shoulder_tilt_joint joint_speed: 1.17 motor_master: id: 6 init: 512 min: 717 max: 126 motor_slave: id: 2 elbow_tilt_controller: controller: package: ax12_controller_core module: joint_position_controller type: JointPositionControllerAX12 joint_name: elbow_tilt_joint joint_speed: 1.17 motor: id: 5 init: 512 min: 881 max: 126 wrist_rotate_controller: controller: package: ax12_controller_core module: joint_position_controller type: JointPositionControllerAX12 joint_name: wrist_rotate_joint joint_speed: 1.17 motor: id: 4 init: 512 min: 1023 max: 0
Peter Heim gravatar imagePeter Heim ( 2011-03-26 23:43:17 -0500 )edit
Can you put this on pastebin or somewhere that doesn't mangle the formatting?
mjcarroll gravatar imagemjcarroll ( 2011-03-28 03:17:02 -0500 )edit
Or add it to your question with block quotes.
tfoote gravatar imagetfoote ( 2011-04-03 14:10:54 -0500 )edit

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answered 2011-04-04 09:07:22 -0500

arebgun gravatar image

This was a bug in the dual motor controller code, it is fixed as of revision 1303.

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Asked: 2011-03-24 22:24:59 -0500

Seen: 249 times

Last updated: Apr 04 '11