Did the driver support joint velocity control or joint torque control?

[namuhevil]

I want to know which interface is the mostly opened gate to access the Yaskawa manipulator, We want to control every joint velocity and torque to do visual servoing.

[gavanderhoorn]

Only position control is supported.

And to be more specific: the driver (ROS side) expects full trajectories, not single traj pts.

#88 (updated in #215) adds a sort-of position-based streaming interface.

[harumo11]

Hello developers of motoman package and thanks for the great ROS package.

I have a question about point-streaming interface.
I tried to use the point streaming interface, but I couldn't figure out how to use it.

I tried the following steps.

1. roslaunch motoman_sia20d_moveit_config moveit_planning_execution.launch robot_ip:=10.0.0.2 controller:=fs100 sim:=false

2. Joint values were sent to joint_streaming_interface using this program

3. I got the following error when I sent joint values.

I sent motion_streaming_interface joint values

[ERROR] [1571296092.465539508]: Trajectory splicing not yet implemented, stopping current motion.
[ERROR] [1571296092.720267573]: Trajectory splicing not yet implemented, stopping current motion.
[ERROR] [1571296092.992569231]: Trajectory splicing not yet implemented, stopping current motion.
[ERROR] [1571296092.998145363]: Aborting Trajectory.  Failed to send point (#0): Invalid message (3) : Trajectory start position doesn't match current robot position (3011)
[ERROR] [1571296093.253868287]: Trajectory splicing not yet implemented, stopping current motion.
[ERROR] [1571296093.509321453]: Trajectory splicing not yet implemented, stopping current motion.
[ERROR] [1571296093.781523688]: Trajectory splicing not yet implemented, stopping current motion.

Is there any available implementation example to use point-streaming or documents?

Thanks in advance.

[gavanderhoorn]

Streaming will only work if you've merged the changes in one of the PRs I linked.

Can you confirm whether you have done that?

[harumo11]

@gavanderhoorn Thanks for quick response.

I checked merge log and I can't found merge log of #215 .
I cloned kinetic-devel branch from github and I use it.

Which branch should I use?

[gavanderhoorn]

You will need to merge / port the changes in either #215 or any of the updated PRs.

Without that this will not work.

[harumo11]

Sorry but could you please tell me the method for merging?
I thought it is only can be done by someone who is authorized.

[gavanderhoorn]

You can merge pull requests locally.

This page gives some info on how to do these sorts of things.

[choonyip]

Hello dear @gavanderhoorn, I am a member of the same research group with @harumo11.
I have merged PR #215 based on the page you provided, with the steps below:

$ git fetch origin pull/215/head:point_streaming
$ git merge point_streaming

Merge made by the 'recursive' strategy.
 .../joint_trajectory_interface.h                   |  11 ++
 .../joint_trajectory_streamer.h                    |  10 +-
 .../motoman_driver/joint_trajectory_streamer.h     |   7 +
 .../joint_trajectory_interface.cpp                 |   3 +-
 .../joint_trajectory_streamer.cpp                  | 208 ++++++++++++++++++++-
 motoman_driver/src/joint_trajectory_streamer.cpp   |  83 +++++++-
 6 files changed, 309 insertions(+), 13 deletions(-)

But I'm still getting the same error shown above.
Appreciate if you could take a look to our source code, or is there any available implementation example?

[gavanderhoorn]

Looking at your program, you appear to be sending messages to the command topic (here):

ros::Publisher joint_trajectory_publisher = node_handle.advertise<trajectory_msgs::JointTrajectory>("/sia20/sia20_joint_controller/command", 1);

the correct topic would appear to be joint_command. See here.

[choonyip]

It worked! As you said, we should send messages to /joint _command topic. Thank you so much. Really appreciate your help.