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error when connecting DX100 controller

Hello, I am trying to connect with DX100 controller via Ethernet. I have completed all step according to tutorial.

But when I am launching roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=10.20.30.10 according to this, http://wiki.ros.org/motoman_driver/Tutorials/Usage#Robot_Controller I am getting this error,

 /robot_ip_address: 10.20.30.10
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    joint_state (motoman_driver/robot_state)
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    motion_streaming_interface (motoman_driver/motion_streaming_interface)

auto-starting new master
process[master]: started with pid [16267]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7ff70826-3a94-11e9-a310-e094677543f1
process[rosout-1]: started with pid [16280]
started core service [/rosout]
process[joint_state-2]: started with pid [16288]
process[motion_streaming_interface-3]: started with pid [16298]
process[joint_trajectory_action-4]: started with pid [16305]
[ERROR] [1551274510.017293580]: Failed to find topic_list parameter
[ERROR] [1551274510.019096560]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1551274510.019235316]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.025299639]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.025411427]: Failed to receive message length
[ERROR] [1551274510.025449442]: Failed to receive incoming message
[ERROR] [1551274510.029772460]: Failed to find topic_list parameter
[ERROR] [1551274510.032185826]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1551274510.032383954]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.036218270]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1551274510.037383101]: Failed to initialize joint_names.
[ERROR] [1551274510.057214554]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.307608223]: Timeout connecting to robot controller.  Send new motion command to retry.
[ERROR] [1551274515.026198348]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274515.026460781]: Failed to receive message length
[ERROR] [1551274515.026616096]: Failed to receive incoming message
[ERROR] [1551274520.027295751]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

It is written in tutorial, Make sure the ROS trajectory node has been enabled by invoking the robot_enable service.

I can enable it by rosservice call.

But how can I enable it before launching above (roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=10.20.30.10) command.

When I am starting controller in teach pendent I get Alarm like,

MotoROS: Controller cfg invalid
  [102]

But when I reset this alarm it goes. is this a problem?

Thanks.

error when connecting DX100 controller

Hello, I am trying to connect with DX100 controller via Ethernet. I have completed all step according to tutorial.

But when I am launching roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=10.20.30.10 according to this, http://wiki.ros.org/motoman_driver/Tutorials/Usage#Robot_Controller I am getting this error,

 /robot_ip_address: 10.20.30.10
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    joint_state (motoman_driver/robot_state)
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    motion_streaming_interface (motoman_driver/motion_streaming_interface)

auto-starting new master
process[master]: started with pid [16267]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7ff70826-3a94-11e9-a310-e094677543f1
process[rosout-1]: started with pid [16280]
started core service [/rosout]
process[joint_state-2]: started with pid [16288]
process[motion_streaming_interface-3]: started with pid [16298]
process[joint_trajectory_action-4]: started with pid [16305]
[ERROR] [1551274510.017293580]: Failed to find topic_list parameter
[ERROR] [1551274510.019096560]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1551274510.019235316]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.025299639]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.025411427]: Failed to receive message length
[ERROR] [1551274510.025449442]: Failed to receive incoming message
[ERROR] [1551274510.029772460]: Failed to find topic_list parameter
[ERROR] [1551274510.032185826]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1551274510.032383954]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.036218270]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1551274510.037383101]: Failed to initialize joint_names.
[ERROR] [1551274510.057214554]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274510.307608223]: Timeout connecting to robot controller.  Send new motion command to retry.
[ERROR] [1551274515.026198348]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)
[ERROR] [1551274515.026460781]: Failed to receive message length
[ERROR] [1551274515.026616096]: Failed to receive incoming message
[ERROR] [1551274520.027295751]: Failed to connect to server, rc: -1. Error: 'Connection refused' (errno: 111)

It is written in tutorial, Make sure the ROS trajectory node has been enabled by invoking the robot_enable service.

I can enable it by rosservice call.

But how can I enable it before launching above (roslaunch motoman_driver robot_interface_streaming_dx100.launch robot_ip:=10.20.30.10) command.

When I am starting controller in teach pendent I get Alarm like,

MotoROS: Controller cfg invalid
  [102]

But when I reset this alarm alarm, it goes. is this a problem?

Thanks.