Comments (9)
Note: this is also an issue with MotoROS1.
from motoros2.
We need to document this error in the readme.
#201 (comment)
They should be seeing a message on the pendant
When attempting to start a job (using the pendant), they should get error 0380 Check Position
from motoros2.
Should we instead not have MR2 check whether the home pos is set and raise an appropriate alarm if it isn't?
Edit: or at the very least update the result message returned by start_traj_mode
et al.?
from motoros2.
It looks like we already are
Line 1514 in 9026a1d
So that's apparently broken.
from motoros2.
You mean we should be seeing:
Line 27 in 9026a1d
?
from motoros2.
Yeah. That's what I would have thought.
Though perhaps 0x3040 doesn't apply if the home position has been registered and just needs to be validated. If that's the case, then I don't know of any mechanism to detect that this scenario.
from motoros2.
Just ran into this when testing something for #19:
[...] [...]: Ros_MotionControl_StartMotionMode: enter
[...] [...]: Can't start 'INIT_ROS' because: 'The home position is not registered' (0x3040)
[...] [...]: Ros_MotionControl_StartMotionMode: exit
[...] [...]: Ros_ServiceStartPointQueueMode_Trigger: The INIT_ROS job has not started. Please call start_traj_mode or start_point_queue_mode service (108)
seems this isn't completely broken.
from motoros2.
I started looking into this issue. I found that the debug statement is occurring at:
Lines 1503 to 1516 in 10d8f00
The r.Data is not getting out of the BOOL Ros_MotionControl_StartMotionMode function.
This then gets put out into a failure to start in Ros_ServiceStartTrajMode_Trigger:
motoros2/src/ServiceStartTrajMode.c
Lines 56 to 78 in 10d8f00
Which then calls Ros_Controller_GetNotReadySubcode(), this function doesn't see the warning only that the job has not started via:
motoros2/src/ControllerStatusIO.c
Lines 447 to 449 in 10d8f00
from motoros2.
This same problem also occurs in Issue #192 I believe
from motoros2.
Related Issues (20)
- Compatibility with "Absolute Accuracy Compensation" HOT 20
- Document compatibility with the Absolute Accuracy Compensation feature HOT 1
- Missing check for energy-savings mode HOT 1
- `Ros_MotionControl_ValidateMotionModeIsOk()` should only check, not act HOT 1
- `Must call queue_traj_point service` returned when motion mode is not 'streaming' HOT 2
- Controlling two Yaskawa Robots via Moveit
- persistent "Final position was outside tolerance" HOT 15
- Document potential issue with DHCP network configuration
- Improve FJT goal validation (include `JointTolerance` checks fi)
- Update tolerances for starting and ending position
- `Warning: Group 0 - Time difference between endTrajData (...) and startTrajData (...) is 0 or less.` HOT 2
- motoman Mh180: Error in executing trajectory using MoveGroupSequence action
- Config file in releases zip file outputs errors when processed through linter HOT 2
- Readme: Explanation of Agent IP and Port
- Persistent ALARM 8014 Invalid MotoROS2 job detected [1] HOT 3
- MicroROS ros_domain_id issue HOT 1
- Extend `motoRosAssert(..)` to output expected value HOT 1
- Tests_ActionServer_FJT.c causes compilation to fail if MOTOROS2_TESTING_ENABLE is defined HOT 5
- Question: interrupt with GPIO?
- Add support for INFORM job CRUD HOT 7
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