Problem starting trajectory mode #201
Answered
by
ted-miller
jake-bk-park
asked this question in
Troubleshooting
-
|
Hello, I am trying to get MotoROS2 working on a YRC1000u controller. I followed the instructions for compiling the source and installing the Click to expandRobot status message and service call output from the host machine: Click to expand
Please help troubleshooting the issue! |
Beta Was this translation helpful? Give feedback.
Answered by
ted-miller
Jan 23, 2024
Replies: 3 comments 9 replies
-
and
Could you please clarify why you needed to build from sources? The
it appears the debug log you show is from a session after the first one where MotoROS2 generates the Could you make a backup copy of the current Please attach the backup copy of Please also include more information on your YRC1000u:
Finally: please do not post screenshots of terminals. Just as the debug listener output, it's all just text, so please copy-paste it into your comment. Please also make sure to use code blocks (like you did for the debug listener output). |
Beta Was this translation helpful? Give feedback.
0 replies
-
|
@jake-bk-park, this is very likely a case that the home position needs to be checked. Standard pendant:
Smart Pendant:
|
Beta Was this translation helpful? Give feedback.
0 replies
-
|
Hi guys, Thanks for attending to this issue. I was able collect more information on this issue:
The main reason was for me to learn how to build from source as I am considering to add features on top of MotoROS2. I first did started out by just taking the binary from the release page, which resulted in the same issue I described above.
As for the log, output please check below. FYI, I had to reload the binary from scratch as I had another one loaded for a test over the weekend. After loading the binary and copying yaml config file over: Click to expandAt this point, I noticed the JBI file is not getting created. So, I started micro-ros agent on the host side: Click to expandAfter the JBI file was created, I was able to retrieve a copy. You can find it here:
Finally, here are some information on the current setup I am working with: Click to expand
I am actually not sure if this is the case. Is there a way to check this? As far as I know no personnel from Yaskwa came in to do a configuration. It does not seem like this issue is due to the missing home position confirmation. I tried following your steps after reading through #37 but I do not see the "Check Position [R1]" message from the classical interface. Also, from the smart interface, I see that the home position has already been confirmed: Click to expand
I noticed today that strangely enough the servo mode does engage when I call the service. I can see the green indicator light for servo turn on and hear the motors on the robot engage. However, when I try to use moveit to move the robot, I get blocked by the API with the Anything else I should try to troubleshoot this issue? Please let me know! |
Beta Was this translation helpful? Give feedback.
9 replies
-
|
Can you please save out a CMOS.BIN in maintenance mode post it here. I'll need to investigate why the job isn't starting properly. |
Beta Was this translation helpful? Give feedback.
-
|
Here you go! |
Beta Was this translation helpful? Give feedback.
-
|
I'm definitely able to reproduce the issue. The job actually does briefly start before being aborted. I've never seen this behavior. I'll need to consult some colleagues. |
Beta Was this translation helpful? Give feedback.
-
|
Found the issue. The controller is configured to go This is causing the INIT_ROS job to only execute a single instruction line and terminate.
|
Beta Was this translation helpful? Give feedback.
Answer selected by
jake-bk-park
-
|
Wow, nice sleuthing. Would this be something we could detect and warn about? |
Beta Was this translation helpful? Give feedback.
-
|
Yes. I've opened #203 for this |
Beta Was this translation helpful? Give feedback.
-
|
Great find @ted-miller! This indeed was the problem. I also found a way to set this through the Smart Interface from the Controller Settings screen:
Changing this from None to Continuous solved the problem. Thanks for figuring this out for me! |
Beta Was this translation helpful? Give feedback.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Found the issue. The controller is configured to go
STEPcycle-mode when put into Remote mode. Please change this setting toAUTO. (Apologies, I'm not sure where that menu is on the Smart Pendant. Please use the Classic Interface.)This is causing the INIT_ROS job to only execute a single instruction line and terminate.