JUNCHAO

Moveit Trajectory Failed

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Hello Intera Team,

I was trying to plan and execute the trajectory in Moveit, but it always fails whatever how to plan it. I know it seems to be similar to the few previous topics that other users posted, but I really tried all the methods I found in this forum and even on the whole Internet. Our university tech guys fixed the NTP issue for me, but it still fails. I don't know what to do right now. I have been suffering from this for few weeks too.

I attach the whole launch code and the trajectory plan code here.

 

[intera - http://021705CP00093.local:11311] robotics@robotics-Latitude-E5470:~/ros_ws$ roslaunch sawyer_moveit_config sawyer_moveit.launch
... logging to /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/roslaunch-robotics-Latitude-E5470-28978.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://169.254.9.57:35385/

SUMMARY
========

PARAMETERS
 * /move_group/allow_trajectory_execution: True
 * /move_group/allowed_execution_duration_scaling: 1.2
 * /move_group/allowed_goal_duration_margin: 0.5
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: simple_controller...
 * /move_group/head/planner_configs: ['SBLkConfigDefau...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/right_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/use_controller_manager: True
 * /robot_description_kinematics/head/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/head/kinematics_solver_attempts: 3
 * /robot_description_kinematics/head/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/head/kinematics_solver_timeout: 0.005
 * /robot_description_kinematics/right_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/right_arm/kinematics_solver_attempts: 10
 * /robot_description_kinematics/right_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/right_arm/kinematics_solver_timeout: 0.005
 * /robot_description_planning/joint_limits/right_j0/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j0/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j0/max_acceleration: 3.5
 * /robot_description_planning/joint_limits/right_j0/max_velocity: 0.88
 * /robot_description_planning/joint_limits/right_j1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j1/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/right_j1/max_velocity: 0.678
 * /robot_description_planning/joint_limits/right_j2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j2/max_acceleration: 5.0
 * /robot_description_planning/joint_limits/right_j2/max_velocity: 0.996
 * /robot_description_planning/joint_limits/right_j3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j3/max_acceleration: 5.0
 * /robot_description_planning/joint_limits/right_j3/max_velocity: 0.996
 * /robot_description_planning/joint_limits/right_j4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j4/max_acceleration: 5.0
 * /robot_description_planning/joint_limits/right_j4/max_velocity: 1.776
 * /robot_description_planning/joint_limits/right_j5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j5/max_acceleration: 5.0
 * /robot_description_planning/joint_limits/right_j5/max_velocity: 1.776
 * /robot_description_planning/joint_limits/right_j6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/right_j6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/right_j6/max_acceleration: 5.0
 * /robot_description_planning/joint_limits/right_j6/max_velocity: 2.316
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.13
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver: kdl_kinematics_pl...
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_attempts: 3
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_search_resolution: 0.005
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/head/kinematics_solver_timeout: 0.005
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_attempts: 10
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_robotics_Latitude_E5470_28978_3340562522888942337/right_arm/kinematics_solver_timeout: 0.005

NODES
  /
    move_group (moveit_ros_move_group/move_group)
    rviz_robotics_Latitude_E5470_28978_3340562522888942337 (rviz/rviz)

ROS_MASTER_URI=http://021705CP00093.local:11311

process[move_group-1]: started with pid [28990]
process[rviz_robotics_Latitude_E5470_28978_3340562522888942337-2]: started with pid [28991]
[ INFO] [1528323945.052649773]: Loading robot model 'sawyer'...
[ INFO] [1528323945.065726462]: rviz version 1.12.16
[ INFO] [1528323945.066183718]: compiled against Qt version 5.5.1
[ INFO] [1528323945.066228000]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1528323945.125379174]: Loading robot model 'sawyer'...
[ INFO] [1528323945.191456726]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1528323945.205863997]: MoveGroup debug mode is ON
Starting context monitors...
[ INFO] [1528323945.206793758]: Starting scene monitor
[ INFO] [1528323945.224457880]: Listening to '/planning_scene'
[ INFO] [1528323945.224713866]: Starting world geometry monitor
[ INFO] [1528323945.236506174]: Listening to '/collision_object' using message notifier with target frame '/base '
[ INFO] [1528323945.245107492]: Stereo is NOT SUPPORTED
[ INFO] [1528323945.245556299]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1528323945.245635256]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1528323945.276487852]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.
[ INFO] [1528323945.314766664]: Initializing OMPL interface using ROS parameters
[ INFO] [1528323945.366329714]: Using planning interface 'OMPL'
[ INFO] [1528323945.369706289]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1528323945.371147439]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1528323945.372469617]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1528323945.373617677]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1528323945.375042832]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1528323945.376669402]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1528323945.376744465]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1528323945.376773618]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1528323945.376839280]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1528323945.376858191]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1528323945.376894036]: Using planning request adapter 'Fix Start State Path Constraints'
[ WARN] [1528323945.383325501]:
Deprecation warning: parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!
[ WARN] [1528323945.384526347]:
Deprecation warning: parameter 'allowed_goal_duration_margin' moved into namespace 'trajectory_execution'.
Please, adjust file trajectory_execution.launch.xml!

[ INFO] [1528323945.651669985]: Added FollowJointTrajectory controller for /robot/limb/right
[ INFO] [1528323945.652065587]: Returned 1 controllers in list
[ INFO] [1528323945.708770350]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...

[ INFO] [1528323946.063715013]:

********************************************************
* MoveGroup using:
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1528323946.063987749]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1528323946.064149028]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1528323948.847131272]: Loading robot model 'sawyer'...
[ INFO] [1528323948.924133996]: Loading robot model 'sawyer'...
[ INFO] [1528323948.999324040]: Starting scene monitor
[ INFO] [1528323949.013077514]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1528323950.032157486]: No active joints or end effectors found for group ''. Make sure you have defined an end effector in your SRDF file and that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1528323950.037879837]: Constructing new MoveGroup connection for group 'right_arm' in namespace ''
[ WARN] [1528323951.055104848]:
Deprecation warning: Trajectory execution service is deprecated (was replaced by an action).
Replace 'MoveGroupExecuteService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch

[ INFO] [1528323951.073245861]: Ready to take commands for planning group right_arm.
[ INFO] [1528323951.073354076]: Looking around: no
[ INFO] [1528323951.073407860]: Replanning: no
[ WARN] [1528323951.086621598]: Interactive marker 'EE:goal_right_hand' contains unnormalized quaternions. This warning will only be output once but may be true for others; enable DEBUG messages for ros.rviz.quaternions to see more details.
[ WARN] [1528323974.891747073]: Failed to fetch current robot state.

[ INFO] [1528323974.892801862]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
Debug:   Starting goal sampling thread
Debug:   Waiting for space information to be set up before the sampling thread can begin computation...

[ INFO] [1528323974.899332549]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   ParallelPlan.solveMore: starting planner RRTConnect
Debug:   ParallelPlan.solveMore: starting planner RRTConnect

Info:    RRTConnect: Starting planning with 1 states already in datastructure
Debug:   RRTConnect: Waiting for goal region samples ...
Debug:   ParallelPlan.solveMore: starting planner RRTConnect

Info:    RRTConnect: Starting planning with 1 states already in datastructure
Debug:   RRTConnect: Waiting for goal region samples ...
Info:    RRTConnect: Starting planning with 1 states already in datastructure
Debug:   RRTConnect: Waiting for goal region samples ...
Debug:   ParallelPlan.solveMore: starting planner RRTConnect

Info:    RRTConnect: Starting planning with 1 states already in datastructure
Debug:   RRTConnect: Waiting for goal region samples ...
Debug:   Beginning sampling thread computation
Debug:   Stopped goal sampling thread after 10 sampling attempts
Debug:   RRTConnect: Waited 0.010144 seconds for the first goal sample.
Debug:   RRTConnect: Waited 0.010110 seconds for the first goal sample.
Debug:   RRTConnect: Waited 0.010098 seconds for the first goal sample.
Debug:   RRTConnect: Waited 0.010095 seconds for the first goal sample.

Info:    RRTConnect: Created 4 states (2 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.016088 seconds
Info:    RRTConnect: Created 5 states (3 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.018401 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000181 seconds hybridizing 1 solution paths (attempted 0 connections between paths)
Debug:   ParallelPlan.solveMore: Spent 0.000227 seconds hybridizing 2 solution paths (attempted 1 connections between paths)

Info:    RRTConnect: Created 4 states (2 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.018802 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000042 seconds hybridizing 3 solution paths (attempted 2 connections between paths)

Info:    RRTConnect: Created 4 states (2 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.021260 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000047 seconds hybridizing 4 solution paths (attempted 3 connections between paths)

Info:    ParallelPlan::solve(): Solution found by one or more threads in 0.025939 seconds
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   ParallelPlan.solveMore: starting planner RRTConnect
Debug:   ParallelPlan.solveMore: starting planner RRTConnect
Debug:   ParallelPlan.solveMore: starting planner RRTConnect
Debug:   ParallelPlan.solveMore: starting planner RRTConnect

Info:    RRTConnect: Starting planning with 1 states already in datastructure
Info:    RRTConnect: Starting planning with 1 states already in datastructure
Info:    RRTConnect: Starting planning with 1 states already in datastructure
Info:    RRTConnect: Created 4 states (2 start + 2 goal)

Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.003359 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000078 seconds hybridizing 6 solution paths (attempted 11 connections between paths)

Info:    RRTConnect: Starting planning with 1 states already in datastructure
Info:    RRTConnect: Created 5 states (3 start + 2 goal)

Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.003567 seconds
Info:    RRTConnect: Created 4 states (2 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.003620 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000114 seconds hybridizing 8 solution paths (attempted 13 connections between paths)
Debug:   ParallelPlan.solveMore: Spent 0.000016 seconds hybridizing 8 solution paths (attempted 0 connections between paths)

Info:    RRTConnect: Created 4 states (2 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.005818 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000046 seconds hybridizing 9 solution paths (attempted 8 connections between paths)

Info:    ParallelPlan::solve(): Solution found by one or more threads in 0.005998 seconds
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   RRTConnect: Planner range detected to be 9.137180
Debug:   ParallelPlan.solveMore: starting planner RRTConnect
Debug:   ParallelPlan.solveMore: starting planner RRTConnect

Info:    RRTConnect: Starting planning with 1 states already in datastructure
Info:    RRTConnect: Starting planning with 1 states already in datastructure
Info:    RRTConnect: Created 4 states (2 start + 2 goal)

Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.002479 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000124 seconds hybridizing 11 solution paths (attempted 23 connections between paths)

Info:    RRTConnect: Created 4 states (2 start + 2 goal)
Debug:   ParallelPlan.solveMore: Solution found by RRTConnect in 0.003580 seconds
Debug:   ParallelPlan.solveMore: Spent 0.000119 seconds hybridizing 12 solution paths (attempted 11 connections between paths)

Info:    ParallelPlan::solve(): Solution found by one or more threads in 0.003834 seconds
Info:    SimpleSetup: Path simplification took 0.012288 seconds and changed from 3 to 2 states

[ INFO] [1528323978.521995934]: Received new trajectory execution service request...
[ WARN] [1528323979.522709048]: Failed to validate trajectory: couldn't receive full current joint state within 1s
[ INFO] [1528323979.523042746]: Execution completed: ABORTED
[ INFO] [1528323989.342307823]: Stopping scene monitor
[ WARN] [1528323989.349337698]: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded.
[rviz_robotics_Latitude_E5470_28978_3340562522888942337-2] process has finished cleanly
log file: /home/robotics/.ros/log/0293b4ba-69ac-11e8-8124-484d7ef5fc80/rviz_robotics_Latitude_E5470_28978_3340562522888942337-2*.log

 


^C[move_group-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

 

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Just to be sure the two are in sync, can you echo the `robot/joint_states` topic and look for the timestamp?
When you compare it to your workstation computer's using the `date +%s` command, the two should not be off by more than a few seconds.

For more precise results you could install the `clockdiff` command (package `iputils-clockdiff` on Ubuntu) and use it to check the clocks offset : `clockdiff -o <ip>.<of>.<your>.<sawyer>`

Let me know ^_^

  • Like 1

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Hello Ulysse,

Thanks for your reply!

-When I used the command "date+%s", it shows a very big number. Does that mean they are still not sync yet?

robotics@robotics-Latitude-E5470:~/ros_ws$ date +%s
1528927112

-I used "ntpdate -q  <workstation_ip>" to test the synchronization, I think it shows it is good.

ntpdate -q 169.254.221.25
server 169.254.221.25, stratum 3, offset -0.000020, delay 0.02570
13 Jun 16:57:29 ntpdate[20200]: adjust time server 169.254.221.25 offset -0.000020 sec

-I used "rostopic echo /robot/joint_states" to grab the joint states, please see the attachment below.

 

Thanks for the help! Please let me know what do you think.

Junchao Li

 

echo_joint_state.png

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Haha I think I did not explain myself very well.

The `date +%s` command is to get the current clock value of your workstation at a given time. The number is big because it is the number of seconds elapsed since 1970 (we call it epoch).

When Sawyer sends a joint_state message, it calls it under the hood and use it to fill the `header.stamp.secs` message (the `header.stamp.nsecs` message is filled with the result of command `date +%N` but we're not really interested in this one yet).

For short, just run the following command and post the output:

date +%s & rostopic echo -n 1 /robot/joint_states/header/stamp/secs

To speed things up I also want you to execute the following command:

clockdiff -o <ip>.<adress>.<of>.<sawyer>  # Be careful: IP address of Sawyer, not NTP server!


 

 

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