[ros-users] [Discourse.ros.org] [ROS-Industrial] Using the Motoman SDA20D Dual-arms DX100 ROS Interface(Indigo)

Sinaí Aranda ros.discourse at gmail.com
Tue May 8 15:59:01 UTC 2018



**roslaunch motoman_sda20d_moveit_config robot_interface_streaming_sda20d.launch --screen**... logging to /home/sda20/.ros/log/55952d18-52d4-11e8-93b2-009a9e9d9347/roslaunch-sda20-Aspire-S3-15122.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://sda20-Aspire-S3:43152/

SUMMARY

PARAMETERS
 * /controller_joint_names: ['arm_left_joint_...
 * /robot_ip_address: 192.168.255.10
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /topic_list: [{'joints': ['arm...

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

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[joint_state-1]: started with pid [15140]
process[motion_streaming_interface-2]: started with pid [15141]
[ INFO] [1525793277.774871649]: Added message handler for message type: 0
process[joint_trajectory_action-3]: started with pid [15150]
[ INFO] [1525793277.783318367]: Robot state connecting to IP address: '192.168.255.10:50241'
[ INFO] [1525793277.786943671]: Loading topic list
[ INFO] [1525793277.787028643]: Found 4 topics
[ INFO] [1525793277.787093476]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525793277.787155804]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525793277.787214808]: Topic(state_value): [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525793277.787274280]: Topic(state_value): [group:3,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525793277.787322502]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525793277.787537892]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525793277.787624508]: Loading group: [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525793277.787683830]: Loading group: [group:3,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525793277.787750856]: Loaded 4 groups
[ INFO] [1525793277.787833872]:  Initializing robot state 4 groups
[ INFO] [1525793277.787894632]: Initializing message manager with default comms fault handler
[ INFO] [1525793277.787941047]: Default communications fault handler successfully initialized
[ INFO] [1525793277.787979140]: Initializing message manager
[ INFO] [1525793277.788027577]: Added message handler for message type: 1
[ INFO] [1525793277.809585729]: Added message handler for message type: 10
[ INFO] [1525793277.810346040]: Joint Trajectory Interface connecting to IP address: '192.168.255.10:50240'
[ INFO] [1525793277.813892230]: Added message handler for message type: 15
[ INFO] [1525793277.813995011]: Creating joint_feedback_ex_relay_handler with 4 groups
[ INFO] [1525793277.819683274]: Loading topic list
[ INFO] [1525793277.819847125]: Found 4 topics
[ INFO] [1525793277.819924352]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525793277.819994004]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525793277.820046525]: Topic(state_value): [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525793277.820089922]: Topic(state_value): [group:3,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525793277.820134699]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525793277.820247098]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525793277.820320855]: Loading group: [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525793277.820388747]: Loading group: [group:3,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525793277.820461235]: Loaded 4 groups
[ INFO] [1525793277.820530037]: MotomanJointTrajectoryStreamer: init
[ INFO] [1525793277.820582817]: JointTrajectoryStreamer: init
[ INFO] [1525793277.821819561]: Connected to server
[ INFO] [1525793277.829682953]: Loading topic list
[ INFO] [1525793277.829783638]: Found 4 topics
[ INFO] [1525793277.829828822]: Topic(state_value): [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525793277.829886254]: Topic(state_value): [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525793277.829948569]: Topic(state_value): [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525793277.830012649]: Topic(state_value): [group:3,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525793277.830065815]: Loading group: [group:0,joints:{arm_right_joint_1_s,arm_right_joint_2_l,arm_right_joint_3_e,arm_right_joint_4_u,arm_right_joint_5_r,arm_right_joint_6_b,arm_right_joint_7_t},name:sda20d_r2_controller,ns:sda20d]
[ INFO] [1525793277.830190502]: Loading group: [group:1,joints:{arm_left_joint_1_s,arm_left_joint_2_l,arm_left_joint_3_e,arm_left_joint_4_u,arm_left_joint_5_r,arm_left_joint_6_b,arm_left_joint_7_t},name:sda20d_r1_controller,ns:sda20d]
[ INFO] [1525793277.830258075]: Loading group: [group:2,joints:{torso_joint_b1},name:sda20d_b1_controller,ns:sda20d]
[ INFO] [1525793277.830316122]: Loading group: [group:3,joints:{torso_joint_b2},name:sda20d_b2_controller,ns:sda20d]
[ INFO] [1525793277.830378247]: Loaded 4 groups
[ INFO] [1525793277.830492358]: Added message handler for message type: 2017
[ INFO] [1525793277.833911412]: Connected to server
[ INFO] [1525793277.833981932]: Successfully initialized robot state interface
[ INFO] [1525793277.834048878]: Entering message manager spin loop
[ INFO] [1525793277.939026704]: Unlocking mutex
[ INFO] [1525793277.939193526]: Starting Motoman joint trajectory streamer thread
[ INFO] [1525793277.944351291]: Connecting to robot motion server
[ WARN] [1525793277.944421356]: Tried to connect when socket already in connected state
[FATAL] [1525793278.015168488]: ASSERTION FAILED
	file = /home/sda20/cidesi_robots_ws/src/motoman-indigo-devel/motoman_driver/src/industrial_robot_client/joint_relay_handler.cpp
	line = 320
	cond = all_joint_state.positions.size() == all_joint_names.size()

[joint_state-1] process has died [pid 15140, exit code -5, cmd /home/sda20/cidesi_robots_ws/devel/lib/motoman_driver/robot_state __name:=joint_state __log:=/home/sda20/.ros/log/55952d18-52d4-11e8-93b2-009a9e9d9347/joint_state-1.log].
log file: /home/sda20/.ros/log/55952d18-52d4-11e8-93b2-009a9e9d9347/joint_state-1*.log

**In new terminals (these just it's show before of the error):**
rostopic echo /sda20d/sda20d_r1_controller/joint_states 
header: 
  seq: 0
  stamp: 
    secs: 1525791870
    nsecs: 125187133
  frame_id: ''
name: ['arm_left_joint_1_s', 'arm_left_joint_2_l', 'arm_left_joint_3_e', 'arm_left_joint_4_u', 'arm_left_joint_5_r', 'arm_left_joint_6_b', 'arm_left_joint_7_t']
position: [-0.32970359921455383, 0.983213484287262, -0.030645526945590973, -1.0131772756576538, -1.3398334980010986, -1.8006503582000732, 1.0624170303344727]
velocity: []
effort: []

rostopic echo /sda20d/sda20d_r2_controller/joint_states 
header: 
  seq: 0
  stamp: 
    secs: 1525791870
    nsecs: 123301906
  frame_id: ''
name: ['arm_right_joint_1_s', 'arm_right_joint_2_l', 'arm_right_joint_3_e', 'arm_right_joint_4_u', 'arm_right_joint_5_r', 'arm_right_joint_6_b', 'arm_right_joint_7_t']
position: [-0.08535750955343246, 1.1426793336868286, 0.18094155192375183, -1.0275626182556152, -0.9328728914260864, -1.4836479425430298, 0.06319399178028107]
velocity: []
effort: []

rostopic echo /sda20d/sda20d_b1_controller/joint_states 
header: 
  seq: 0
  stamp: 
    secs: 1525791870
    nsecs: 125437761
  frame_id: ''
name: ['torso_joint_b1']
position: [0.06071678176522255]
velocity: []
effort: []

rostopic echo /sda20d/sda20d_b2_controller/joint_states

**In display of the robot Motoplus:**
Controller number of group = 3
StateServer Send failure. Closing state server connection.
Closing Motion Server Connection.
Motion Server Connection Closed.

Exist a problem with motoman_driver related with [driver: assertion in joint_relay_handler when controller has < 4 motion groups configured](https://github.com/ros-industrial/motoman/issues/91) and [Removed version0 parameters (as much as possible)](https://github.com/ros-industrial/motoman/pull/89)? 
I used the last motoman_driver version for indigo-devel.





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