Real robot jogging failed

[CloudYin]

Simulation succeeded. Real jogging failed.

Steps to reproduce

How can the issue/bug be reproduced?

1. In "prbt_jog_arm_sim.launch" file, change "sim" value to True.
2. roslaunch prbt_jog_arm_support prbt_jog_arm_sim.launch
3. roslaunch pilz_teleoperation key_teleop.launch

Expected behavior

Real robot can be jogged by keys

Observed behavior

Robot initialized, break released. No movement. Got some EMCY errors and a 3D sensor error.

Logfiles

Starting planning scene monitors...
...
[ERROR] [1583827607.334247236]: Failed to find 3D sensor plugin parameters for octomap generation
...
[ INFO] [1583827608.352193404]: waitForService: Service [/prbt/manipulator_joint_trajectory_controller/hold] has not been advertised, waiting...
[ERROR] [1583827608.372707285]: EMCY received: 83#0000000000000000
[ERROR] [1583827608.376348170]: EMCY received: 84#0000000000000000
[ERROR] [1583827608.379154348]: EMCY received: 85#0000000000000000
[ERROR] [1583827608.382530051]: EMCY received: 86#0000000000000000
[ERROR] [1583827608.385933620]: EMCY received: 87#0000000000000000
[ERROR] [1583827608.390027850]: EMCY received: 88#0000000000000000
[ INFO] [1583827608.390509914]: Initializing successful
[ INFO] [1583827608.435816434]: waitForService: Service [/prbt/safe_torque_off] has not been advertised, waiting...
[ INFO] [1583827608.564347025]: waitForService: Service [/prbt/manipulator_joint_trajectory_controller/hold] has not been advertised, waiting...
[ INFO] [1583827608.646892018]: waitForService: Service [/prbt/safe_torque_off] has not been advertised, waiting...
[ INFO] [1583827608.690148065]: waitForService: Service [/prbt/manipulator_joint_trajectory_controller/hold] is now available.
[ INFO] [1583827608.709660182]: waitForService: Service [/prbt/safe_torque_off] is now available.
[ INFO] [1583827608.922283993]: Recovering...
[ INFO] [1583827608.922387241]: Recovering successful
[ INFO] [1583827608.933523867]: Added FollowJointTrajectory controller for prbt/manipulator_joint_trajectory_controller/
[ INFO] [1583827608.933665933]: Returned 1 controllers in list
[ INFO] [1583827608.953969227]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
Loading 'pilz_trajectory_generation/MoveGroupSequenceAction'...
[ INFO] [1583827609.085680223]: initialize move group sequence action
[ INFO] [1583827609.099722389]: Reading limits from namespace /robot_description_planning
Loading 'pilz_trajectory_generation/MoveGroupSequenceService'...
[robot_init-8] process has finished cleanly
log file: /home/pilz/.ros/log/14fedb8a-62a6-11ea-ab59-94659c149f51/robot_init-8*.log
[ INFO] [1583827609.105842175]: Reading limits from namespace /robot_description_planning
[ INFO] [1583827609.112137466]:
...
[ INFO] [1583827609.112282316]: MoveGroup context using planning plugin pilz::CommandPlanner
[ INFO] [1583827609.112330952]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1583827609.261482484]: Waiting for low-pass filters to stabilize.
[ INFO] [1583827609.261644833]: jog_calcs_thread: Received first joint msg.
[ INFO] [1583827609.265982934]: Call "get firmware" service for "prbt_joint_1"
[ INFO] [1583827609.281946513]: Call "get firmware" service for "prbt_joint_2"
[ INFO] [1583827609.293940077]: Call "get firmware" service for "prbt_joint_3"
[ INFO] [1583827609.309381795]: Call "get firmware" service for "prbt_joint_4"
[ INFO] [1583827609.323019276]: Call "get firmware" service for "prbt_joint_5"
[ INFO] [1583827609.337825051]: Call "get firmware" service for "prbt_joint_6"
[ WARN] [1583827609.342169092]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ INFO] [1583827609.351428375]: Firmware version [prbt_joint_1]: 100 Build:11158 Date:2018-06-07 16:49:555
[ INFO] [1583827609.351513286]: Firmware version [prbt_joint_2]: 100 Build:11158 Date:2018-06-07 16:49:555
[ INFO] [1583827609.351542115]: Firmware version [prbt_joint_3]: 100 Build:11158 Date:2018-06-07 16:49:55U
[ INFO] [1583827609.351564671]: Firmware version [prbt_joint_4]: 100 Build:11158 Date:2018-06-07 16:49:55A
[ INFO] [1583827609.351588605]: Firmware version [prbt_joint_5]: 100 Build:11158 Date:2018-06-07 16:49:55%
[ INFO] [1583827609.351609844]: Firmware version [prbt_joint_6]: 100 Build:11158 Date:2018-06-07 16:49:555
[prbt/system_info_node-13] process has finished cleanly
log file: /home/pilz/.ros/log/14fedb8a-62a6-11ea-ab59-94659c149f51/prbt-system_info_node-13*.log
[ WARN] [1583827619.342220384]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827629.342254603]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827639.350273551]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827649.358171387]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827659.358199212]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827669.358248350]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827679.358224114]: Stale command. Try a larger 'incoming_command_timeout' parameter?
[ WARN] [1583827689.366234902]: Stale command. Try a larger 'incoming_command_timeout' parameter?

[jschleicher]

That's currently not implemented. See #38.

[jschleicher]

Closing as duplicate of #38. Currently no activity planned, please contact ros@pilz.de if you want to see this feature implemented.