From 089c25e365e7232f67c5aea4f22e08cff13064b3 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 3 Oct 2023 12:13:09 +0200 Subject: [PATCH] Document new alarm (8013[16]) --- doc/troubleshooting.md | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/doc/troubleshooting.md b/doc/troubleshooting.md index f261116d..77488030 100644 --- a/doc/troubleshooting.md +++ b/doc/troubleshooting.md @@ -968,6 +968,39 @@ If the behavior persists, save a copy of the output of the [debug-listener scrip Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG` and the debug log to the issue. Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`). +### Alarm: 8013[16] + +*Example:* + +```text +ALARM 8013 + No calibration: TF may by wrong +[16] +``` + +*Solution:* +MotoROS2 was unable to load any kinematic calibration data during initialisation. +This calibration data is used to update the origins of TF frames broadcast by MotoROS2 if TF broadcasts are enabled. + +Without (valid) calibration data the origins of distinct TF trees might overlap (see [Incorrect transform tree origin with multi-robot setups](../README.md#incorrect-transform-tree-origin-with-multi-robot-setups)), creating potentially dangerous situations when that TF data is consumed by applications which for example use it for collision avoidance motion planning. + +This alarm is only raised if all of the following conditions are true: + +1. MotoROS2 is configured to broadcast TF (`publish_tf` is `true`) +1. the controller is configured with multiple motion groups (ie: multiple robots) +1. none of the motion groups have been calibrated against each other + +The alarm can be prevented by performing (robot) group calibration or by disabling TF broadcasts (set `publish_tf` to `false`). + +In case TF broadcasting for uncalibrated multi-group systems is still desired, the alarm can be disabled by setting the `disable_missing_calib_warning` item in the MotoROS2 configuration to `true` (default is: `false`). +When disabling the alarm, make absolutely sure consuming applications are capable of disambiguating potentially overlapping TF trees. + +In case of any updates to the configuration file, [changes will need to be propagated to the Yaskawa controller](../README.md#updating-the-configuration). + +In case the alarm is still raised after calibration was performed, TF broadcasting was disabled and/or the alarm was disabled, save a copy of the output of the [debug-listener script](#debug-log-client) and the `PANELBOX.LOG` from the robot's teach pendant. +Open a new issue on the [Issue tracker](https://github.com/yaskawa-global/motoros2/issues), describe the problem and attach `PANELBOX.LOG` and the debug log to the issue. +Include a verbatim copy of the alarm text as seen on the teach pendant (alarm number and `[subcode]`). + ### Alarm: 8014[0] *Example:*