Certain group cfgs make JointState output stop working about motoros2

[ted-miller]

Dunno. I'll continue debug next week.

[ted-miller]

Additionally, this issue occurs on Foxy, Galactic, and Humble. The ROS2 version is not the reason for this issue.

[ted-miller]

I restored an old CMOS.bin for other reasons.

When trying to run my FJT script, it says that I didn't have velocity data for all axes. Well... scrolling up through the log, I see that all of the joint names are blank.

So now I'm thinking that the JointStates publisher is broken because of the lack of joint-names.
CMOS.zip

I will continue debug next week.

[gavanderhoorn]

When trying to run my FJT script, it says that I didn't have velocity data for all axes. Well... scrolling up through the log, I see that all of the joint names are blank.

if you don't configure custom ones, you should get the default ones generated:

motoros2/src/ControllerStatusIO.c

Lines 77 to 102 in 6c5614b

	BOOL bShouldSetJointNamesToDefaultValues = (strlen(g_nodeConfigSettings.joint_names[0]) == 0);
	//==================================
	//Create control groups
	g_Ros_Controller.totalAxesCount = 0;
	// Check for each group
	for(groupIndex=0; groupIndex < MAX_CONTROLLABLE_GROUPS; groupIndex++)
	{
	if(groupIndex < g_Ros_Controller.numGroup)
	{
	// Determine if specific group exists and allocate memory for it
	g_Ros_Controller.ctrlGroups[groupIndex] = Ros_CtrlGroup_Create(groupIndex, //Zero based index of the group number(0 - 3)
	(groupIndex==(g_Ros_Controller.numGroup-1)), //TRUE if this is the final group that is being initialized. FALSE if you plan to call this function again.
	g_Ros_Controller.interpolPeriod); //Value of the interpolation period (ms) for the robot controller.
	if(g_Ros_Controller.ctrlGroups[groupIndex] != NULL)
	{
	Ros_CtrlGroup_GetPulsePosCmd(g_Ros_Controller.ctrlGroups[groupIndex], g_Ros_Controller.ctrlGroups[groupIndex]->prevPulsePos); // set the current commanded pulse
	g_Ros_Controller.totalAxesCount += g_Ros_Controller.ctrlGroups[groupIndex]->numAxes;
	if (bShouldSetJointNamesToDefaultValues) //joint names were NOT specified in the yaml config file
	{
	for (int jointIndex = 0; jointIndex < g_Ros_Controller.ctrlGroups[groupIndex]->numAxes; jointIndex += 1)
	{
	sprintf(g_nodeConfigSettings.joint_names[(groupIndex * MP_GRP_AXES_NUM) + jointIndex], DEFAULT_JOINT_NAME_FMT, groupIndex + 1, jointIndex + 1);
	}
	}

[ted-miller]

Yeah... I just now saw that too.
So now I don't know what's up and my system is extra broken.

[gavanderhoorn]

Would you have a sample of the /joint_states topic?

[ted-miller]

/joint_states won't publish. topic echo just freezes until I ctrl-c.

However, I am able to view the topics for each individual control-group, such as /ctrl_groups/r1/joint_states. That works fine.

[gavanderhoorn]

Hm, wireshark? Any XRCE-DDS traffic?

[ted-miller]

The missing velocity-data had nothing to do with this issue. There was an error in my script and it was a legit error.

[ted-miller]

Also occurs on R1+R2+B1+B2