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Previously generated INFORM job detected as invalid on next boot #166

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rsaintobert opened this issue Sep 28, 2023 · 10 comments · Fixed by #168
Closed

Previously generated INFORM job detected as invalid on next boot #166

rsaintobert opened this issue Sep 28, 2023 · 10 comments · Fixed by #168
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ros2:humble rv:0.1.1 Reported in MotoROS2 0.1.1 yrc1000u

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@rsaintobert
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rsaintobert commented Sep 28, 2023 •
edited by gavanderhoorn
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ROS2 Version: Humble
MotoROS2 Version: Latest (0.1.1)
MicroROS Version: Latest
YRC1000u
GP7

Hi. I am having trouble to make the driver work.
I followed the installation procedure and I let MotoROS2 generate the INIT_ROS job.
I started the micro ros agent using the docker image and executed the "ros2 node list" cmd into the container (docker exec -it) but no ros node was visible.
After reboot of the controller, the INIT_ROS job is detected as invalid and the alarm 8014 is raised. No ROS node is visible.

The weird thing is that I turns out to work one time without changing anything apparently. I was able to see the node and listen to the /joint_states topic, but after a reboot the problem appeared again.

Here are the logs of the agent 
local-micro-ros-agent-1  | [1695908233.380252] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 9999
local-micro-ros-agent-1  | [1695908233.380331] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
local-micro-ros-agent-1  | [1695908315.098871] info     | ProxyClient.cpp    | ProxyClient              | session hard timeout enabled | client_key: 0xB5258455, timeout: 10000 ms
local-micro-ros-agent-1  | [1695908315.098906] info     | Root.cpp           | create_client            | create                 | client_key: 0xB5258455, session_id: 0x81
local-micro-ros-agent-1  | [1695908315.098964] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0xB5258455, address: 192.168.255.1:42474
local-micro-ros-agent-1  | [1695908315.110142] info     | ProxyClient.cpp    | create_participant       | participant created    | client_key: 0xB5258455, participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.128229] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5258455, topic_id: 0x000(2), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.129441] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5258455, publisher_id: 0x000(3), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.132151] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5258455, datawriter_id: 0x000(5), publisher_id: 0x000(3)
local-micro-ros-agent-1  | [1695908315.234171] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5258455, topic_id: 0x001(2), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.236989] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5258455, publisher_id: 0x001(3), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.240042] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5258455, datawriter_id: 0x001(5), publisher_id: 0x001(3)
local-micro-ros-agent-1  | [1695908315.245597] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5258455, topic_id: 0x002(2), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.248058] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5258455, publisher_id: 0x002(3), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.250550] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5258455, datawriter_id: 0x002(5), publisher_id: 0x002(3)
local-micro-ros-agent-1  | [1695908315.253837] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5258455, topic_id: 0x003(2), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.256189] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5258455, publisher_id: 0x003(3), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.259048] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5258455, datawriter_id: 0x003(5), publisher_id: 0x003(3)
local-micro-ros-agent-1  | [1695908315.262554] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x000(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.266670] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x001(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.268991] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x002(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.271409] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5258455, topic_id: 0x004(2), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.274315] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5258455, publisher_id: 0x004(3), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.276964] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5258455, datawriter_id: 0x004(5), publisher_id: 0x004(3)
local-micro-ros-agent-1  | [1695908315.279497] info     | ProxyClient.cpp    | create_topic             | topic created          | client_key: 0xB5258455, topic_id: 0x005(2), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.281887] info     | ProxyClient.cpp    | create_publisher         | publisher created      | client_key: 0xB5258455, publisher_id: 0x005(3), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.285010] info     | ProxyClient.cpp    | create_datawriter        | datawriter created     | client_key: 0xB5258455, datawriter_id: 0x005(5), publisher_id: 0x005(3)
local-micro-ros-agent-1  | [1695908315.334888] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x003(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.339744] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x004(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.342384] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x005(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.346158] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x006(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.350938] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x007(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.354202] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x008(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.358204] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x009(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.360912] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x00A(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.363761] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x00B(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.369887] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x00C(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.373540] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x00D(7), participant_id: 0x000(1)
local-micro-ros-agent-1  | [1695908315.376741] info     | ProxyClient.cpp    | create_replier           | replier created        | client_key: 0xB5258455, requester_id: 0x00E(7), participant_id: 0x000(1)
The logs of the debug after first boot 
[2023-09-28 15:36:17.904400] [192.168.255.1:57070]: ---
[2023-09-28 15:36:17.904600] [192.168.255.1:57070]: MotoROS2 0.1.1 - boot
[2023-09-28 15:36:17.904600] [192.168.255.1:57070]: M+ libmicroros version: 'humble-20221102-dbg'
[2023-09-28 15:36:17.904800] [192.168.255.1:57070]: PlatformLib version: 0.2.11
[2023-09-28 15:36:17.923200] [192.168.255.1:57070]: No new configuration file found on CN102 USB drive.
[2023-09-28 15:36:17.923200] [192.168.255.1:57070]: Checking configuration file: motoros2_config.yaml
[2023-09-28 15:36:18.072800] [192.168.255.1:57070]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.255.20' on iface 1
[2023-09-28 15:36:18.073000] [192.168.255.1:57070]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2023-09-28 15:36:18.073000] [192.168.255.1:57070]: UserLan monitor enabled, checking port setting ..
[2023-09-28 15:36:18.073000] [192.168.255.1:57070]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.255.20' on iface 1
[2023-09-28 15:36:18.073200] [192.168.255.1:57070]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2023-09-28 15:36:18.073200] [192.168.255.1:57070]: UserLan monitor auto-detect port: 1
[2023-09-28 15:36:18.073200] [192.168.255.1:57070]: Config: ros_domain_id = 0
[2023-09-28 15:36:18.073800] [192.168.255.1:57070]: Config: node_name = 'motoman_25_84_55'
[2023-09-28 15:36:18.073800] [192.168.255.1:57070]: Config: node_namespace = ''
[2023-09-28 15:36:18.073800] [192.168.255.1:57070]: Config: remap_rules = ''
[2023-09-28 15:36:18.073800] [192.168.255.1:57070]: Config: agent_ip_address = '192.168.255.20'
[2023-09-28 15:36:18.074600] [192.168.255.1:57070]: Config: agent_port_number = '9999'
[2023-09-28 15:36:18.074600] [192.168.255.1:57070]: Config: sync_timeclock_with_agent = 1
[2023-09-28 15:36:18.074600] [192.168.255.1:57070]: Config: namespace_tf = 1
[2023-09-28 15:36:18.074800] [192.168.255.1:57070]: Config: publish_tf = 0
[2023-09-28 15:36:18.074800] [192.168.255.1:57070]: List of configured joint names:
[2023-09-28 15:36:18.074800] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.074800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075400] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.075600] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.075600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078400] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078400] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.078600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.078800] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.079000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079400] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079800] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.079800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.079800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.080000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.080000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.080000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.080000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082400] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082400] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.082400] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.082800] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.083000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083200] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083600] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083800] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.083800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.083800] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.084000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.084000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.084000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.084000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.087000] [192.168.255.1:57070]: x
[2023-09-28 15:36:18.087000] [192.168.255.1:57070]: ---
[2023-09-28 15:36:18.087000] [192.168.255.1:57070]: Config: logging.log_to_stdout = 0
[2023-09-28 15:36:18.087200] [192.168.255.1:57070]: Config: update_periods.executor_sleep_period = 10
[2023-09-28 15:36:18.087200] [192.168.255.1:57070]: Config: update_periods.action_feedback_publisher_period = 20
[2023-09-28 15:36:18.087400] [192.168.255.1:57070]: Config: update_periods.controller_status_monitor_period = 10
[2023-09-28 15:36:18.087600] [192.168.255.1:57070]: Config: publisher_qos.robot_status = 'sensor_data'
[2023-09-28 15:36:18.087600] [192.168.255.1:57070]: Config: publisher_qos.joint_states = 'sensor_data'
[2023-09-28 15:36:18.088000] [192.168.255.1:57070]: Config: publisher_qos.tf = 'default'
[2023-09-28 15:36:18.088000] [192.168.255.1:57070]: Config: tf_frame_prefix = ''
[2023-09-28 15:36:18.088000] [192.168.255.1:57070]: Config: stop_motion_on_disconnect = 1
[2023-09-28 15:36:18.088000] [192.168.255.1:57070]: Config: inform_job_name = 'INIT_ROS'
[2023-09-28 15:36:18.088200] [192.168.255.1:57070]: Config: allow_custom_inform_job = 0
[2023-09-28 15:36:18.088200] [192.168.255.1:57070]: Config: userlan_monitor_enabled = 1
[2023-09-28 15:36:18.088200] [192.168.255.1:57070]: Config: userlan_monitor_port = 1
[2023-09-28 15:36:18.088400] [192.168.255.1:57070]: Waiting for robot alarms to clear...
[2023-09-28 15:36:20.590400] [192.168.255.1:57070]: RMW settings 1: 1000; 0; 1000; 256; 256; 512
[2023-09-28 15:36:20.590400] [192.168.255.1:57070]: RMW settings 2: 1; 1; 30; 15; 30; 1; -1
[2023-09-28 15:36:20.590400] [192.168.255.1:57070]: RMW settings 3: 60; 120; 100; 100
[2023-09-28 15:36:20.590600] [192.168.255.1:57070]: Using ROS domain ID: 0
[2023-09-28 15:36:20.590600] [192.168.255.1:57070]: Using client key: 0xB5258455
[2023-09-28 15:36:20.590600] [192.168.255.1:57070]: Attempting to connect to micro-ROS PC Agent (at udp://192.168.255.20:9999)
[1970-01-01 00:00:00.000000] [192.168.255.1:57070]: Found micro-ROS PC Agent
[2023-09-28 15:36:21.610000] [192.168.255.1:57070]: rclc_support_init_with_options = 0
[2023-09-28 15:36:21.610200] [192.168.255.1:57070]: remap_rules str: ''
[2023-09-28 15:36:21.610200] [192.168.255.1:57070]: len(remap_rules str): 0
[2023-09-28 15:36:21.610200] [192.168.255.1:57070]: num parsed remap rules: 0
[2023-09-28 15:36:21.610400] [192.168.255.1:57070]: faux argc: 2
[2023-09-28 15:36:21.610400] [192.168.255.1:57070]: rcl_parse_arguments = 0
[2023-09-28 15:36:21.621000] [192.168.255.1:57070]: rclc_node_init_with_options = 0
[2023-09-28 15:36:21.621200] [192.168.255.1:57070]: Ros_Communication_Initialize(..):comm_exec_init: memory free: 1045920 bytes, delta: -776
[2023-09-28 15:36:21.621200] [192.168.255.1:57070]: Initializing controller
[2023-09-28 15:36:21.621200] [192.168.255.1:57070]: Number of motion groups: 1 (max supported: 8)
[2023-09-28 15:36:21.636200] [192.168.255.1:57070]: axisType[0]: Rot	Rot	Rot	Rot	Rot	Rot	---	---	
[2023-09-28 15:36:21.636200] [192.168.255.1:57070]: pulse->unit[0]: 71116.2160	86919.8196	65189.8647	48892.3985	41721.5134	26634.7161	--	--	
[2023-09-28 15:36:21.636400] [192.168.255.1:57070]: maxInc[0] (in motoman joint order): 1861, 1911, 1865, 1877, 1601, 1862, 0
[2023-09-28 15:36:21.636400] [192.168.255.1:57070]: maxSpeed[0] (in ros joint order): 6.542108, 5.496445, 7.152185, 9.597606, 9.593372, 17.477190, 0.000000
[2023-09-28 15:36:21.636400] [192.168.255.1:57070]: Creating new task: Add To Inc Q (Group 1)
[2023-09-28 15:36:21.636600] [192.168.255.1:57070]: Created ctrl group 0, memfree = (1008152) bytes
[2023-09-28 15:36:21.643200] [192.168.255.1:57070]: Creating new task: IncMoveTask
[2023-09-28 15:36:21.643400] [192.168.255.1:57070]: IncMoveTask Started
[2023-09-28 15:36:21.643800] [192.168.255.1:57070]: Eco-mode: enabled
[2023-09-28 15:36:21.644000] [192.168.255.1:57070]: Eco-mode: timeout: 10 min
[2023-09-28 15:36:21.644000] [192.168.255.1:57070]: Ros_Controller_Initialize(..):ctrlr_init: memory free: 1007832 bytes, delta: -38088
[2023-09-28 15:36:21.644000] [192.168.255.1:57070]: Checking validity of robot job: INIT_ROS
[2023-09-28 15:36:21.670000] [192.168.255.1:57070]: Job file doesn't exist
[2023-09-28 15:36:21.670200] [192.168.255.1:57070]: Generating INFORM job in temporary location 'MPRAM1:0\INIT_ROS.JBI'
[2023-09-28 15:36:21.742400] [192.168.255.1:57070]: Generated INFORM job, loaded as 'INIT_ROS'
[2023-09-28 15:36:21.742600] [192.168.255.1:57070]: Initializing PositionMonitor publishers
[2023-09-28 15:36:21.762200] [192.168.255.1:57070]: PositionMonitor: publishing TF to 'tf'
[2023-09-28 15:36:21.770200] [192.168.255.1:57070]: Ros_PositionMonitor_Initialize(..):pos_mon_init: memory free: 1005320 bytes, delta: -2512
[2023-09-28 15:36:21.770400] [192.168.255.1:57070]: Initializing ActionServer FollowJointTrajectory
[2023-09-28 15:36:21.796200] [192.168.255.1:57070]: Allocating FollowJointTrajectory goal request
[2023-09-28 15:36:21.796200] [192.168.255.1:57070]: Maximum length of trajectories: 200 points
[2023-09-28 15:36:21.810000] [192.168.255.1:57070]: g_actionServer_FJT_SendGoal_Request__sizeof = 451008
[2023-09-28 15:36:21.842400] [192.168.255.1:57070]: Ros_ActionServer_FJT_Initialize(..):fjt_init: memory free: 1003464 bytes, delta: -1856
[2023-09-28 15:36:21.847400] [192.168.255.1:57070]: Ros_ServiceQueueTrajPoint_Initialize(..):svc_queue_point_init: memory free: 996216 bytes, delta: -7248
[2023-09-28 15:36:21.869000] [192.168.255.1:57070]: Ros_ServiceReadWriteIO_Initialize(..):svc_rw_io_init: memory free: 994504 bytes, delta: -1712
[2023-09-28 15:36:21.872000] [192.168.255.1:57070]: Ros_ServiceResetError_Initialize(..):svc_reset_error_init: memory free: 994224 bytes, delta: -280
[2023-09-28 15:36:21.874600] [192.168.255.1:57070]: Ros_ServiceStartTrajMode_Initialize(..):svc_start_traj_mode_init: memory free: 993928 bytes, delta: -296
[2023-09-28 15:36:21.881200] [192.168.255.1:57070]: Ros_ServiceStartPointQueueMode_Initialize(..):svc_start_point_queue_mode_init: memory free: 993632 bytes, delta: -296
[2023-09-28 15:36:21.884200] [192.168.255.1:57070]: Ros_ServiceStopTrajMode_Initialize(..):svc_stop_traj_mode_init: memory free: 993344 bytes, delta: -288
[2023-09-28 15:36:21.888600] [192.168.255.1:57070]: Ros_ServiceSelectMotionTool_Initialize(..):svc_select_tool_init: memory free: 993048 bytes, delta: -296
[2023-09-28 15:36:21.888800] [192.168.255.1:57070]: Initialization complete. Memory available: (993048) bytes. Memory in use: (55528) bytes
[2023-09-28 15:36:21.891200] [192.168.255.1:57070]: Starting UserLan link state monitor (port: 1)
The logs of the debug at reboot indicating that the job is invalid 
[2023-09-28 15:46:42.143000] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.143200] [192.168.255.1:50187]: MotoROS2 0.1.1 - boot
[2023-09-28 15:46:42.143200] [192.168.255.1:50187]: M+ libmicroros version: 'humble-20221102-dbg'
[2023-09-28 15:46:42.143200] [192.168.255.1:50187]: PlatformLib version: 0.2.11
[2023-09-28 15:46:42.169400] [192.168.255.1:50187]: No new configuration file found on CN102 USB drive.
[2023-09-28 15:46:42.169800] [192.168.255.1:50187]: Checking configuration file: motoros2_config.yaml
[2023-09-28 15:46:42.326000] [192.168.255.1:50187]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.255.20' on iface 1
[2023-09-28 15:46:42.326000] [192.168.255.1:50187]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2023-09-28 15:46:42.326000] [192.168.255.1:50187]: UserLan monitor enabled, checking port setting ..
[2023-09-28 15:46:42.326600] [192.168.255.1:50187]: Ros_ConfigFile_HostOnNetworkInterface: checking '192.168.255.20' on iface 1
[2023-09-28 15:46:42.326800] [192.168.255.1:50187]: Ros_ConfigFile_HostOnNetworkInterface: exit: on network: true
[2023-09-28 15:46:42.326800] [192.168.255.1:50187]: UserLan monitor auto-detect port: 1
[2023-09-28 15:46:42.326800] [192.168.255.1:50187]: Config: ros_domain_id = 0
[2023-09-28 15:46:42.327000] [192.168.255.1:50187]: Config: node_name = 'motoman_25_84_55'
[2023-09-28 15:46:42.327000] [192.168.255.1:50187]: Config: node_namespace = ''
[2023-09-28 15:46:42.327000] [192.168.255.1:50187]: Config: remap_rules = ''
[2023-09-28 15:46:42.327000] [192.168.255.1:50187]: Config: agent_ip_address = '192.168.255.20'
[2023-09-28 15:46:42.327200] [192.168.255.1:50187]: Config: agent_port_number = '9999'
[2023-09-28 15:46:42.327200] [192.168.255.1:50187]: Config: sync_timeclock_with_agent = 1
[2023-09-28 15:46:42.327200] [192.168.255.1:50187]: Config: namespace_tf = 1
[2023-09-28 15:46:42.327400] [192.168.255.1:50187]: Config: publish_tf = 0
[2023-09-28 15:46:42.327400] [192.168.255.1:50187]: List of configured joint names:
[2023-09-28 15:46:42.327400] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.327800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.327800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.327800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.327800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328200] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.328200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328600] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328600] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328600] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.328600] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.328800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329000] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.329200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.329800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330000] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.330000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.330400] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.332800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.332800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.332800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333200] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.333200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.333800] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334000] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.334000] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334200] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334400] [192.168.255.1:50187]: x
[2023-09-28 15:46:42.334600] [192.168.255.1:50187]: ---
[2023-09-28 15:46:42.334600] [192.168.255.1:50187]: Config: logging.log_to_stdout = 0
[2023-09-28 15:46:42.334600] [192.168.255.1:50187]: Config: update_periods.executor_sleep_period = 10
[2023-09-28 15:46:42.334600] [192.168.255.1:50187]: Config: update_periods.action_feedback_publisher_period = 20
[2023-09-28 15:46:42.334800] [192.168.255.1:50187]: Config: update_periods.controller_status_monitor_period = 10
[2023-09-28 15:46:42.334800] [192.168.255.1:50187]: Config: publisher_qos.robot_status = 'sensor_data'
[2023-09-28 15:46:42.334800] [192.168.255.1:50187]: Config: publisher_qos.joint_states = 'sensor_data'
[2023-09-28 15:46:42.335000] [192.168.255.1:50187]: Config: publisher_qos.tf = 'default'
[2023-09-28 15:46:42.335000] [192.168.255.1:50187]: Config: tf_frame_prefix = ''
[2023-09-28 15:46:42.335000] [192.168.255.1:50187]: Config: stop_motion_on_disconnect = 1
[2023-09-28 15:46:42.335000] [192.168.255.1:50187]: Config: inform_job_name = 'INIT_ROS'
[2023-09-28 15:46:42.335200] [192.168.255.1:50187]: Config: allow_custom_inform_job = 0
[2023-09-28 15:46:42.335400] [192.168.255.1:50187]: Config: userlan_monitor_enabled = 1
[2023-09-28 15:46:42.335400] [192.168.255.1:50187]: Config: userlan_monitor_port = 1
[2023-09-28 15:46:42.335800] [192.168.255.1:50187]: Waiting for robot alarms to clear...
[2023-09-28 15:46:44.837600] [192.168.255.1:50187]: RMW settings 1: 1000; 0; 1000; 256; 256; 512
[2023-09-28 15:46:44.838000] [192.168.255.1:50187]: RMW settings 2: 1; 1; 30; 15; 30; 1; -1
[2023-09-28 15:46:44.838000] [192.168.255.1:50187]: RMW settings 3: 60; 120; 100; 100
[2023-09-28 15:46:44.838400] [192.168.255.1:50187]: Using ROS domain ID: 0
[2023-09-28 15:46:44.838400] [192.168.255.1:50187]: Using client key: 0xB5258455
[2023-09-28 15:46:44.838600] [192.168.255.1:50187]: Attempting to connect to micro-ROS PC Agent (at udp://192.168.255.20:9999)
[1970-01-01 00:00:00.000000] [192.168.255.1:50187]: Found micro-ROS PC Agent
[2023-09-28 15:46:45.861400] [192.168.255.1:50187]: rclc_support_init_with_options = 0
[2023-09-28 15:46:45.864200] [192.168.255.1:50187]: remap_rules str: ''
[2023-09-28 15:46:45.864200] [192.168.255.1:50187]: len(remap_rules str): 0
[2023-09-28 15:46:45.864400] [192.168.255.1:50187]: num parsed remap rules: 0
[2023-09-28 15:46:45.864400] [192.168.255.1:50187]: faux argc: 2
[2023-09-28 15:46:45.864400] [192.168.255.1:50187]: rcl_parse_arguments = 0
[2023-09-28 15:46:45.872400] [192.168.255.1:50187]: rclc_node_init_with_options = 0
[2023-09-28 15:46:45.872600] [192.168.255.1:50187]: Ros_Communication_Initialize(..):comm_exec_init: memory free: 1045920 bytes, delta: -776
[2023-09-28 15:46:45.872600] [192.168.255.1:50187]: Initializing controller
[2023-09-28 15:46:45.872600] [192.168.255.1:50187]: Number of motion groups: 1 (max supported: 8)
[2023-09-28 15:46:45.884400] [192.168.255.1:50187]: axisType[0]: Rot	Rot	Rot	Rot	Rot	Rot	---	---	
[2023-09-28 15:46:45.884600] [192.168.255.1:50187]: pulse->unit[0]: 71116.2160	86919.8196	65189.8647	48892.3985	41721.5134	26634.7161	--	--	
[2023-09-28 15:46:45.884600] [192.168.255.1:50187]: maxInc[0] (in motoman joint order): 1861, 1911, 1865, 1877, 1601, 1862, 0
[2023-09-28 15:46:45.884800] [192.168.255.1:50187]: maxSpeed[0] (in ros joint order): 6.542108, 5.496445, 7.152185, 9.597606, 9.593372, 17.477190, 0.000000
[2023-09-28 15:46:45.884800] [192.168.255.1:50187]: Creating new task: Add To Inc Q (Group 1)
[2023-09-28 15:46:45.885000] [192.168.255.1:50187]: Created ctrl group 0, memfree = (1008152) bytes
[2023-09-28 15:46:45.893600] [192.168.255.1:50187]: Creating new task: IncMoveTask
[2023-09-28 15:46:45.894200] [192.168.255.1:50187]: IncMoveTask Started
[2023-09-28 15:46:45.894200] [192.168.255.1:50187]: Eco-mode: enabled
[2023-09-28 15:46:45.894200] [192.168.255.1:50187]: Eco-mode: timeout: 10 min
[2023-09-28 15:46:45.894400] [192.168.255.1:50187]: Ros_Controller_Initialize(..):ctrlr_init: memory free: 1007832 bytes, delta: -38088
[2023-09-28 15:46:45.894400] [192.168.255.1:50187]: Checking validity of robot job: INIT_ROS
[2023-09-28 15:46:45.950400] [192.168.255.1:50187]: Job has invalid contents
[2023-09-28 15:46:45.950600] [192.168.255.1:50187]: Job exists, but is invalid.
[2023-09-28 15:46:45.972600] [192.168.255.1:50187]: Initializing PositionMonitor publishers
[2023-09-28 15:46:45.990600] [192.168.255.1:50187]: PositionMonitor: publishing TF to 'tf'
[2023-09-28 15:46:46.000400] [192.168.255.1:50187]: Ros_PositionMonitor_Initialize(..):pos_mon_init: memory free: 1005320 bytes, delta: -2512
[2023-09-28 15:46:46.000400] [192.168.255.1:50187]: Initializing ActionServer FollowJointTrajectory
[2023-09-28 15:46:46.027600] [192.168.255.1:50187]: Allocating FollowJointTrajectory goal request
[2023-09-28 15:46:46.028000] [192.168.255.1:50187]: Maximum length of trajectories: 200 points
[2023-09-28 15:46:46.042600] [192.168.255.1:50187]: g_actionServer_FJT_SendGoal_Request__sizeof = 451008
[2023-09-28 15:46:46.074800] [192.168.255.1:50187]: Ros_ActionServer_FJT_Initialize(..):fjt_init: memory free: 1003464 bytes, delta: -1856
[2023-09-28 15:46:46.078000] [192.168.255.1:50187]: Ros_ServiceQueueTrajPoint_Initialize(..):svc_queue_point_init: memory free: 996216 bytes, delta: -7248
[2023-09-28 15:46:46.107600] [192.168.255.1:50187]: Ros_ServiceReadWriteIO_Initialize(..):svc_rw_io_init: memory free: 994504 bytes, delta: -1712
[2023-09-28 15:46:46.112600] [192.168.255.1:50187]: Ros_ServiceResetError_Initialize(..):svc_reset_error_init: memory free: 994224 bytes, delta: -280
[2023-09-28 15:46:46.116800] [192.168.255.1:50187]: Ros_ServiceStartTrajMode_Initialize(..):svc_start_traj_mode_init: memory free: 993928 bytes, delta: -296
[2023-09-28 15:46:46.119400] [192.168.255.1:50187]: Ros_ServiceStartPointQueueMode_Initialize(..):svc_start_point_queue_mode_init: memory free: 993632 bytes, delta: -296
[2023-09-28 15:46:46.122800] [192.168.255.1:50187]: Ros_ServiceStopTrajMode_Initialize(..):svc_stop_traj_mode_init: memory free: 993344 bytes, delta: -288
[2023-09-28 15:46:46.125400] [192.168.255.1:50187]: Ros_ServiceSelectMotionTool_Initialize(..):svc_select_tool_init: memory free: 993048 bytes, delta: -296
[2023-09-28 15:46:46.125600] [192.168.255.1:50187]: Initialization complete. Memory available: (993048) bytes. Memory in use: (55528) bytes
[2023-09-28 15:46:46.128600] [192.168.255.1:50187]: Starting UserLan link state monitor (port: 1)
The config file 
---
# SPDX-FileCopyrightText: 2022-2023, Yaskawa America, Inc.
# SPDX-FileCopyrightText: 2022-2023, Delft University of Technology
#
# SPDX-License-Identifier: Apache-2.0


#-----------------------------------------------------------------------------
# REQUIRED
# IP address and UDP port number of the Micro-ROS Agent PC. All communication
# to/from MotoROS2 will route through the Agent application.
# (There is no default value for these fields. They must be specified by
# the user.)
agent_ip_address: "192.168.255.20"
agent_port_number: 9999


# Any settings that are not specified will be set to their DEFAULT value.


#-----------------------------------------------------------------------------
# The (DDS) domain to join
#
# Please refer to the ROS 2 documentation on DDS domain IDs for more
# information. This setting works exactly like its ROS 2 analogue.
#
# DEFAULT: 0 (the default ROS 2 domain ID)
#ros_domain_id: 0

#-----------------------------------------------------------------------------
# Name under which MotoROS2 should register with the ROS 2 node graph.
#
# DEFAULT: "motoman_xx_yy_zz"  (xyz: last three bytes of robot's MAC address)
#node_name: ""

#-----------------------------------------------------------------------------
# Namespace to use for the MotoROS2 node and all topics.
#
# DEFAULT: ""  (empty string)
#node_namespace: ""

#-----------------------------------------------------------------------------
# Remap rules to apply to ROS 2 resource names.
#
# This configures the micro-ROS equivalent of the ROS 2 remap functionality.
#
# The current implementation expects all remap rules as a single,
# space-separated string. Whitespace in resource names is not allowed, so
# this should not pose any issues.
#
# Maximum total length of the remap_rules string: 255 chars. Any characters
# beyond that will be ignored (and likely result in parsing failures).
#
# Please refer to the ROS 2 documentation on remapping for more information
# on syntax and contraints.
#
# Example: the following remaps the 'joint_states' topic to 'my_joint_states',
# and the 'read_single_io' service to 'io/read_single':
#
#   "joint_states:=my_joint_states read_single_io:=io/read_single"
#
# DEFAULT: ""  (empty string)
#remap_rules: ""

#-----------------------------------------------------------------------------
# This will ensure that when timestamps are sampled, they will match the clock
# of the Agent PC. This is useful if the date/time of the robot controller is
# not synchronized.
#
# DEFAULT: true
sync_timeclock_with_agent: true

#-----------------------------------------------------------------------------
# Should MotoROS2 monitor the link state of the ethernet port used to
# communicate with the Agent?
#
# If enabled, this will cause immediate notification of loss-of-connection
# when the link goes down, causing MotoROS2 to activate it's shutdown
# behaviour (ie: stop all motion (if enabled), release resources, wait for
# link up and attempt reconnection with the Agent).
#
# If this is disabled, Agent disconnection detection uses an application
# layer based timeout mechanism which takes longer to detect disconnects (but
# might be more robust against intermittent link-layer disconnects which do not
# cause network disconnections).
#
# DEFAULT: true
#userlan_monitor_enabled: true

#-----------------------------------------------------------------------------
# Which port should MotoROS2 monitor, if 'userlan_monitor_enabled' is 'true'?
#
# If not specified, MotoROS2 will attempt to auto-detect the network port
# that is used to connect to the micro-ROS Agent. It will do this by
# comparing the 'agent_ip_address' setting against the IP addresses (and
# netmasks) of all available network interfaces.
#
# If the Agent can be reached directly over a particular interface, or via a
# configured default gateway on the same interface, the associated port will be
# monitored for link drops.
#
# To disable auto-detection, uncomment 'userlan_monitor_port' below and set
# it to the desired port.
#
# NOTE:   this setting only applies to YRC1000 and YRC1000u controllers.
#         DX200 and FS100 controllers only have a single ethernet port, and any
#         value other than 1 will be ignored.
#
# NOTE 2: auto-detection is not perfect. It can't determine whether the Agent
#         might be reachable using multiple hops. Nor can it determine whether
#         any routers have been configured to forward particular types of
#         traffic or firewalls exist between MotoROS2 and the micro-ROS Agent.
#         For deployments with complex network configurations, disable
#         auto-detection by configuring 'userlan_monitor_port' below.
#
# NOTE 3: the port specified here is NOT checked against 'agent_ip_address'.
#         In other words: if 'agent_ip_address' is on 'USER_LAN1', but
#         'userlan_monitor_port' is set to 'USER_LAN2', MotoROS2 will detect
#         link down events on 'USER_LAN2', whether or not that port is used
#         to communicate with the Agent.
#
# OPTIONS: USER_LAN1, USER_LAN2
# DEFAULT: USER_LAN1
#userlan_monitor_port: USER_LAN1

#-----------------------------------------------------------------------------
# If the Agent PC disconnects from the robot while it is in motion, should the
# robot come to a stop?
#
# DEFAULT: true
stop_motion_on_disconnect: true

#-----------------------------------------------------------------------------
# Should MotoROS2 broadcast transforms on '/tf'? This can be disabled if
# the data will interfere with applications such as robot_state_publisher.
#
# DEFAULT: true
publish_tf: false

#-----------------------------------------------------------------------------
# Should the 'tf' topic be namespaced if 'node_namespace' is configured with a
# non-empty string?
#
# Setting this to 'false' will make MotoROS2 broadcast transforms on the '/tf'
# global topic, which cannot be namespaced (due to being an absolute name).
# Otherwise, it will broadcast on 'tf', which can be namespaced.
#
# DEFAULT: true
namespace_tf: true

#-----------------------------------------------------------------------------
# Similar to the 'frame_prefix' parameter of the ROS 2 'robot_state_publisher'
# node. All published TF frames will be prefixed with this string.
#
# Example: with this parameter set to "left/", the "r1/tool0" frame would be
# published as "left/r1/tool0".
#
# NOTE: the prefix must include a separator (fi: '/') if one should be included
#       in the final name of the TF frames. Such a separator is not added
#       automatically.
#
# DEFAULT: ""  (empty string)
#tf_frame_prefix: ""

#-----------------------------------------------------------------------------
# Joints in this configuration file must be listed in the order of Robots,
# Base-axes, Station-axes.
#
# Example: R1+B1+R2+S1 system
#
# joint_names:
# - [r1_s_axis, r1_l_axis, r1_u_axis, r1_r_axis, r1_b_axis, r1_t_axis]
# - [r2_s_axis, r2_l_axis, r2_u_axis, r2_r_axis, r2_b_axis, r2_t_axis, r2_e_axis]
# - [b1_axis]
# - [s1_axis_1, s1_axis_2]
#
# When using a 7 axis robot arm with an elbow joint (E) in the middle of the
# arm, the elbow axis should be listed last (SLURBTE).
#
# DEFAULT: "group_x/joint_y"
#joint_names:
#- [group_1/joint_1, group_1/joint_2, group_1/joint_3, group_1/joint_4, group_1/joint_5, group_1/joint_6]

#-----------------------------------------------------------------------------
# Logging settings
logging:
  # All log messages are broadcast on the network on port UDP 21789.
  # Additionally, the messages can be printed to the standard output stream of
  # the robot controller. This would be visible over a telnet connection, or by
  # attaching a VGA debug monitor to the robot controller.
  #
  # NOTE: this WILL slow down the application.
  #
  # DEFAULT: false
  log_to_stdout: false

#-----------------------------------------------------------------------------
update_periods:
  # The delay between checks for incoming activity on the network. A lower
  # number will result in quicker responsiveness to received messages.
  # Additionally, it determines the rate at which the feedback_publisher timers
  # are checked.
  # This value should be <= to action_feedback_publisher_period as executor_sleep_period
  # is the rate at which the action-feedback timer is checked. If the value for
  # action_feedback_publisher_period is < executor_sleep_period, it will effectively
  # be treated as having the same value executor_sleep_period at runtime.
  #
  # DEFAULT: 10 milliseconds
  executor_sleep_period: 10

  # The delay between each publish of feedback position and status information.
  # A lower number will publish the feedback data more frequently.
  # This value should be >= to executor_sleep_period and
  # controller_status_monitor_period.
  #
  # DEFAULT: 20 milliseconds
  action_feedback_publisher_period: 20

  # The delay between each poll of the robot I/O and controller status data.
  # This value should be <= to action_feedback_publisher_period.
  #
  # DEFAULT: 10 milliseconds
  controller_status_monitor_period: 10

#-----------------------------------------------------------------------------
# QoS profile to use for various publishers MotoROS2 creates.
# The default values here are based on tests and inspection of the source code
# of typical consumers of messages on these topics.
#
# NOTE : RViz2 expects/requires 'tf' to use the 'default' profile (ie: reliable).
# NOTE2: MoveIt2 expects/requires 'joint_states' to use the 'default' profile.
publisher_qos:
  # DEFAULT: sensor_data
  robot_status: sensor_data

  # DEFAULT: sensor_data
  joint_states: sensor_data

  # DEFAULT: default
  tf: default

#-----------------------------------------------------------------------------
# Name of the INFORM job to be used (and monitored) by MotoROS2.
#
# Maximum length: 32 UTF-8 characters. 16 Japanese (Shift-JIS) characters.
#
# Set this to a custom value when using a custom INFORM job with a different
# name.
#
# NOTE: do NOT include the file extension here (ie: '.JBI'). Only the name
#       of the job should be specified.
#
# DEFAULT: "INIT_ROS"
#inform_job_name: "INIT_ROS"

#-----------------------------------------------------------------------------
# Allow custom INFORM job.
#
# If MotoROS2 detects that the specified INFORM job is not formatted properly
# then an alarm will be raised at startup.
# This flag indicates that the job is intentionally configured and will
# suppress the alarm.
#
# When this flag is set to 'true', then MotoROS2 will not validate whether the
# job is compatible. It is the responsibility of the user to make sure the
# custom job includes the required INFORM statements and in the expected order
# (refer to the provided INFORM job files for the general structure).
#
# DEFAULT: false
#allow_custom_inform: false
@ted-miller
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Hi @rsaintobert
Could you post a copy of the INIT_ROS.JBI file that was generated? Also, a copy of the PANELBOX.LOG file from your robot would be helpful. I'm wondering if your robot has some additional control group(s) configured.

@gavanderhoorn
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gavanderhoorn commented Sep 28, 2023 •
edited
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Slightly off-topic, but on the FS100 branch I have gavanderhoorn@578a610 which would print the 'offending' line during the check.

I might cherry-pick that to main and submit a PR. Would make debugging this a bit easier perhaps.

See #167.

@gavanderhoorn gavanderhoorn mentioned this issue Sep 28, 2023
Merged
@gavanderhoorn gavanderhoorn added yrc1000u ros2:humble rv:0.1.1 Reported in MotoROS2 0.1.1 labels Sep 28, 2023
@rsaintobert
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rsaintobert commented Sep 29, 2023 •
edited by gavanderhoorn
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Hi, here are the files.

INIT_ROS.JBI 
/JOB
//NAME INIT_ROS
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 2023/09/28 15:36
///COMM AUTO-GENERATED BY MotoROS2
///ATTR SC,RW
///GROUP1 RB1
NOP
DOUT OT#(890) OFF
DOUT OT#(889) OFF
TIMER T=0.050
DOUT OT#(889) ON
WAIT OT#(890)=ON
DOUT OT#(890) OFF
DOUT OT#(889) OFF
END
PANELBOX.LOG 
/SYSTEM 9
//DATE      : 2023/09/29 09:52:57
//SYSTEM NO : YBS2.46.00A(EN/FR)-00
//PARAM  NO : 1.42/1.42
//APPLI     : GENERAL         
//LANGUAGE  :  2.46-00-00, 2.46-00-00
//REVISION
MAIN     2.46.00,1.02-10
CA      --------,16092200
PP       2.10-00, 2.00-00, 1.07
SAFETY#0 2.23-00/ 2.11-00, 2.23-00/ 2.11-00, 2.00-00, 2.00-00,17021600,17021600
SERVO#0  1.18-00/ 1.18-00, 1.02E00/ 1.02P00, 2.00-00, 1.01-00,19090800,10000002
//ROBOT NAME
R1 : 1-06VX7-A0*(GP7)                             0011_1111
//CONTROL POWER
TOTAL : 2021/06/16 13:56,00718:35'39
//SERVO POWER
TOTAL : 2021/06/16 13:56,00174:03'37
R1    : 2021/06/16 13:56,00173:35'16
//PLAYBACK TIME
TOTAL : 2021/06/16 13:56,00119:30'17
R1    : 2021/06/16 13:56,00119:29'13
//MOVING TIME
TOTAL : 2021/06/16 13:56,00000:23'44
R1    : 2021/06/16 13:56,00000:23'44
//OPERATING TIME
TOOL1 : 2021/06/16 13:56,00000:00'00
//ENERGY TIME
TOTAL : 2021/06/16 13:56,00024:33'21
//MOTOPLUS APP
01: MotoROS2 (humble)                0.1.1            micro-ROS based ROS 2 interface 
//CONTROLLER SETTING
============================================================
LANGUAGE

------------------------------------------------------------
LANGUAGE1           ENGLISH            
LANGUAGE2           FRENCH             
============================================================
CONTROL GROUP                                       
                                                    
------------------------------------------------------------
CONNECT :                             DETAIL        
R1      : 1-06VX7-A0*                               
B1      : NONE                        DETAIL        
R2      : NONE                                      
S1      : NONE                        DETAIL        
============================================================
CONNECT                                             
        -- AXIS --  -- BRK --   -- CV  --  --OT--   
    SV <123456789> <123456789> <123456789>          
------------------------------------------------------------
R1 :#1 [153264---] [123456---] [111111---]  OT1     
============================================================
OPTION BOARD                                        
STANDARD                                            
------------------------------------------------------------
                                                    
#1        NONE                                      
#2        NONE                                      
============================================================
IO MODULE
ST#   DI   DO  AI  AO BOARD               
------------------------------------------------------------
 00 0008 0008   -   - ASF31(PNP)
 01    -    -   -   - NONE
 02    -    -   -   - NONE
 03    -    -   -   - NONE
 04    -    -   -   - NONE
 05    -    -   -   - NONE
 06    -    -   -   - NONE
 07    -    -   -   - NONE
 08    -    -   -   - NONE
 09    -    -   -   - NONE
 10    -    -   -   - NONE
 11    -    -   -   - NONE
 12    -    -   -   - NONE
 13    -    -   -   - NONE
 14    -    -   -   - NONE
 15    -    -   -   - NONE
 16    -    -   -   - NONE
 17    -    -   -   - NONE
 18    -    -   -   - NONE
 19    -    -   -   - NONE
============================================================
EXTERNAL IO SETUP                                   
                                                    
------------------------------------------------------------
ALLOCATION MODE                  AUTO               
EXTERNAL IO ALLOCATION           DETAIL             
============================================================
EXTERNAL IO ALLOCATION(INPUT)                       
        ST#  CH  MAC ID  ADDR  BYTE  NAME           
------------------------------------------------------------
#20010    0   0       0     0     1  ASF31          
============================================================
EXTERNAL IO ALLOCATION(OUTPUT)                      
        ST#  CH  MAC ID  ADDR  BYTE  NAME           
------------------------------------------------------------
#30010    0   0       0     0     1  ASF31          
============================================================
OPTION FUNCTION

------------------------------------------------------------
* 006 VISION FUNCTION                 NOT USED  
* 007 ROBOT DETACHMENT                DETAIL    
* 009 AXES DETACHMENT                 DETAIL    
* 011 LAN INTERFACE SETTING           DETAIL    
* 012 NETWORK FUNCTION SETTING        DETAIL    
* 013 EtherNet/IP(CPU Board)          DETAIL    
* 014 DAYLIGHT SAVING TIME            DETAIL    
* 015 RELATIVE JOB                    USED      
* 016 INTERRUPT JOB                   USED      
* 017 TCP                             USED      
* 018 MACRO INST.                     USED      
* 020 I/F PANEL                       USED      
* 021 LADDER EDITOR                   USED      
* 022 PLAY MODE ENABLE                NOT USED  
* 023 MANUAL BRAKE RELEASE            USED      
* 025 EXTERNAL REFERENCE POINT        NOT USED  
* 026 PARALLEL START INSTRUCTION        5
* 027 COORDINATED INSTRUCTION         USED      
* 028 STATION ANGLE DISPLAY           USED      
* 032 TOOL NO. SWITCHING              USED      
* 033 SI UNIT INDICATION              USED      
* 034 DISPLAY IO NAME IN JOB          USED      
* 036 EXTERNAL IO SETUP               DETAIL    
* 037 VARIABLE ALLOCATION             DETAIL    
* 046 MotoPlus FUNC.                  USED      
* 048 AUTOBACKUP(ACP31)               NOT USED  
* 049 Functional safety               DETAIL    
* 050 MOTOPAL FUNCTION                NOT USED  
* 053 MotoFit                         NOT USED  
* 054 MotoLogix                       DETAIL    
* 055 SAFETY LOGICAL CIRCUIT SETTING  DETAIL    
* 056 SAFETY I/O BOARD SETTING        DETAIL    
* 057 POWER FORCE LIMITING            DETAIL    
* 058 3DGRAPHICS                      USED      
* 059 ENDLESS FUNCTION                DETAIL    
* 060 Search function                 USED      
* 061 Pendant Oscilloscope function   USED      
* 062 I/O OUTPUT CONTROL FUNCTION     NOT USED  
* 064 THERMAL SPRAY SPEED FUNCTION    NOT USED  
* 065 ARM INTERFERE CHECK FUNCTION    USED      
* 066 CUBIC ARM INTERFERENCE CHK FUNC.USED      
* 067 HOVER WEAVING FUNCTION          NOT USED  
* 068 SEARCH FUNCTION IN CONT MOTION  NOT USED  
* 069 PASSWORD PROTECTION FUNCTION    NOT USED  
* 070 ONLINE MANUAL FUNCTION          NOT USED  
* 071 I/O JOG OPERATION FUNCTION      NOT USED  
* 072 Cockpit                         NOT USED  
* 073 MOTOMAN DRIVER                  USED      
* 075 TEACH POINT ADJUST FUNCTION     NOT USED  
* 077 SmartPendant                    NOT USED  
* 079 CONVEYOR COORDINATE             DETAIL    
* 083 MUTUAL WAIT FUNCTION            DETAIL    
============================================================
CMOS MEMORY

------------------------------------------------------------
  USED SIZE           2 MB               
  MOUNTED SIZE        2 MB               
============================================================
------------------------------------------------------------
FILE CREATE DATE             2015/01/01 00:00:55 TEACHING
CMOS.BIN LOADED              ----/--/-- --:--:--
============================================================
CHANGE TRACKING LIST         DATE
  INITIALIZE                 2021/06/16 13:56:28 MAKER
  LANGUAGE                   ----/--/-- --:--:--
  CONTROL GROUP              ----/--/-- --:--:--
  APPLICATION                ----/--/-- --:--:--
  OPTION BOARD               ----/--/-- --:--:--
  IO MODULE                  ----/--/-- --:--:--
  CMOS MEMORY                ----/--/-- --:--:--
  DATE/TIME                  2021/06/16 13:56:00 MAKER
  OPTION FUNCTION            2023/09/28 15:27:29 MANAGEMENT
============================================================
INITIALIZED FILES
  JOB                        2021/06/22 11:51:11 MAKER
  FILE/GENERAL DATA          2021/06/22 11:50:55 MAKER
  PARAMETER                  ----/--/-- --:--:--
  I/O DATA                   ----/--/-- --:--:--
  SYSTEM DATA                2021/06/22 11:50:56 MAKER
  USER DEFINE                2023/09/28 15:27:30 MANAGEMENT
============================================================
INSPECTION AND TEST RECORD   DATE
                             ----/--/-- --:--:--
                             ----/--/-- --:--:--
                             ----/--/-- --:--:--
                             ----/--/-- --:--:--
                             ----/--/-- --:--:--
============================================================
CHANGE TRACKING PARAMETER    DATE
  AMCxG                      ----/--/-- --:--:--
  AxP                        ----/--/-- --:--:--
  CIO                        ----/--/-- --:--:--
  FD                         ----/--/-- --:--:--
  FMSxB                      ----/--/-- --:--:--
  MFxG                       ----/--/-- --:--:--
  RCD                        ----/--/-- --:--:--
  RCxG                       ----/--/-- --:--:--
  RExG                       ----/--/-- --:--:--
  ROxG                       ----/--/-- --:--:--
  RS                         ----/--/-- --:--:--
  SxE                        ----/--/-- --:--:--
  S1CxG                      ----/--/-- --:--:--
  S2C                        ----/--/-- --:--:--
  S3C                        ----/--/-- --:--:--
  S4C                        ----/--/-- --:--:--
  S1D                        ----/--/-- --:--:--
  S2D                        ----/--/-- --:--:--
  S3D                        ----/--/-- --:--:--
  S4D                        ----/--/-- --:--:--
  SVxG                       ----/--/-- --:--:--
  SVCxB                      ----/--/-- --:--:--
  SVD                        ----/--/-- --:--:--
  SVMxG                      ----/--/-- --:--:--
  SVPxG                      ----/--/-- --:--:--
  SVSxB                      ----/--/-- --:--:--

I rebooted the controller several time today and so far I can see the ros node, but the alarm for invalid job still appears.
I still don't know why the ros node is sometimes visible and sometimes not (boot order between agent and controller ?)

@gavanderhoorn
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There is a difference here:

job MotoROS2 expects/generates:

TIMER T=0.05

job it 'sees' on your YRC1000m @rsaintobert:

TIMER T=0.050

@ted-miller: this is a similar difference to what I saw on the FS100 and I worked around/fixed with gavanderhoorn@6a79f9b. Would something similar be needed for the YRC1000m?

@gavanderhoorn gavanderhoorn changed the title Generated INFORM job detected as invalid Previously generated INFORM job detected as invalid on next boot Sep 29, 2023
@rsaintobert
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I tried to update the job manually and I confirm the YRC1000m adds a trailing 0 when entering 0.05 value.

@gavanderhoorn
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Yes, that's also why I didn't suggest editing it. It wouldn't have worked.

@ted-miller
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this is a similar difference to what I saw on the FS100 and I worked around/fixed with gavanderhoorn@6a79f9b. Would something similar be needed for the YRC1000m?

What if we simply change strncmp to strstr?

motoros2/src/InformCheckerAndGenerator.c

Line 263 in 4ab13e9

if (strncmp(lineBuffer, rosInitJobLines[lineIndex], MAX_JOB_LINE_LENGTH) != 0)

@gavanderhoorn
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gavanderhoorn commented Sep 29, 2023 •
edited
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Hm, could do that.

It wouldn't be the same though.

I personally like being specific about things.

Edit: but I won't block a PR if you decide to submit one.

@ted-miller
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@rsaintobert
For an immediate remedy, you can uncomment allow_custom_inform in the config file and set it to true. This will prevent the alarm from occurring.

motoros2/config/motoros2_config.yaml

Line 270 in 4ab13e9

#allow_custom_inform: false

To update the config file:
https://github.com/Yaskawa-Global/motoros2#updating-the-configuration

@ted-miller ted-miller mentioned this issue Sep 29, 2023
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@gavanderhoorn
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Thanks for reporting the issue @rsaintobert 👍

This should be fixed in 0.1.2, which will be released in October.

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Add controller-based conditional around the Inform TIMER instruction Yaskawa-Global/motoros2
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@gavanderhoorn @ted-miller @rsaintobert