SDA10F Fails when trying to execute movements with the 'arms' and 'sda10f' groups for moving the real robot #403
Comments
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Apologies for the delayed response. I believe #259 works towards fixing this. It's not complete, but it should at least get you past the problem you report. Could you try that PR and let us know whether it fixes the "goal lost" problem? |
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Thank you very much for the support. After making the modifications in the commits of #259 the simultaneous dual arm movement started working. I have two additional questions, one is related with the synchronized dual arm movements in general (1) and the other just with the robot communication (2), but maybe you can help me also with them. I can open a new issue with these questions if you prefer:
Thank you very much. Best regards, |
tbh, this is more a motion planning issue, instead of an issue with the driver. You mention
while there is support for this in MotoROS, the messages used between MotoROS and See #174 for an old discussion about this (as part of the work to add velocity feedback to the In order to add this, we'd have to add additional SimpleMessage messages, which is a non-trivial amount of work. |
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@pablomalvido: to test a number of changes to Would that be something you'd be interested in? The tests are pretty low-level, with which I mean I expect they require very little time: the changes either work or they don't. In case you'd be willing to help, it'll take me some time to make the test version available, so I'll get in touch with you somewhere next week most likely. |
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As it appears at least the initial problem has been addressed, and it looks like we're tracking the issues with multi-group Feel free to keep commenting on it @pablomalvido. |
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Thank you again for the support @gavanderhoorn and yes, I would be happy to help to keep developing the repository. So just contact me whenever you need to run the tests. Have a nice weekend, |
Hello,
I am working with a SDA10F robot with a FS100 controller and I am having problems for moving the ‘arms’ and ‘sda10f’ groups using MoveIt. This is the information about my system:
• OS version: Ubuntu 18.04.5
• ROS distribution: ROS Melodic
• Controller version: FS3.30.00A(US/FI)-00
• Motoman repository branch: kinetic-devel
I have followed the tutorials in http://wiki.ros.org/motoman_driver/Tutorials for installing the ROS server in the controller (first) and for commanding the robot using ROS (second tutorial). I have installed MotoROS using binaries (MotoRosFS_v192.out) and the MD5 hash is exactly the same as the one in the tutorial.
I run the command:
roslaunch motoman_sda10f_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=10.0.0.2 controller:=fs100to control real the robot with MoveIt, and I get the following output:As can be seen, there is an error saying that the ‘torso’, ‘arms’ and ‘sda10f’ groups are not a chain and that the kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for them. However, this is not an issue as reported in #70 and, additionally, I can move the ‘torso’ group without any problem.
Then, I call the robot_enable service in other terminal.
After that I am able to move the other three groups (‘left_arm’, ‘right_arm’ and ‘torso’) successfully. Then, I try to make a movement with the ‘arms’ group to a predefined joint position, it can plan the movement but, as can be seen in the screenshot below, the execution fails.
This is the code printed in the terminal when trying to execute the movement with the ‘arms’ group clicking in “Plan & Execute”.
The following was reported in http://www.smartroboticsys.eu/?p=675&lang=en in 2015 about the SDA10F ROS package: “What is still missing though, is MoveIT support for synchronized movement of arms/arms+torso respectively. It works fine in simulation, but due to some kind of MoveIT related error, the application fails when running on real robot”. In my case, I can also execute movements with the ‘arms’ group with the MoveIt demo (
roslaunch motoman_sda10f_moveit_config demo.launch), but as was previously reported, it fails when running on real robot.I would like to know which is the situation about this, and if a solution has been found for the execution of synchronized arms movements with the ‘arms’ or ‘sda10f’ groups.
Thank you.
Pablo.
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