MoveIt Robot motion

[elizatscott]

While working with the real robot I am not getting a sequential motion like
home > position1 > position2 > position3....
Instead I am getting motions like
home > poistion1 > home > position2 > home > poisition3....

When checked with gazebo simulation it works correctly whereas when I am working with the real robot I am getting the error mentioned above.

[d-nakamichi]

Could you tell me the AS system software version which you use.
You can check the version by Auxiliary function 0804 or Monitor command "ID".

[elizatscott]

[d-nakamichi]

To use our driver in F series, the robot controller's AS system should be higher than ASF_01000000W.
(https://github.com/Kawasaki-Robotics/khi_robot/blob/master/docs/ConnectingRealRobot.md)
Could you ask your KHI partner to upgrade AS system?

[elizatscott]

Still I could not get the required target motion.
Instead I am getting motions like
home > poistion1 > home > position2 > home > poisition3.... This is the motion that is happening still.
These are my code snippets. I have connected the robot to the ubuntu through the vmware workstation. Does it have anything to deal with this ?

[d-nakamichi]

About,

home > position1 > home > position2 > home > poisition3....

If,

• you set set_max_velocity_scaling_factor(0.1)
• you set a home position which is not equal to [JT1:0 JT2:0 JT3:0 JT4:0 JT5:0 JT6:0]
• the arm moves home(0) > position1 > home(1) > position2 > home(2) > poisition3...,

How is the motion position1 > home(1) like?

• Is the motion speed same as the speed : velocity_scaling(0.1)?
• Is home(1) same as home(0), or [JT1~6: 0]?

[elizatscott]

Yes! The motion speed is same as velocity scaling but it is maintained only during the motion of home > poisition 1 and not during poisition 1 > home.
The home 1 is not same as home 0 but it is going near home 0

[d-nakamichi]

It seems to be a problem on khi_robot side.
To reproduce your problem, let me know your system environment in detail.

• Ubuntu/ROS version
• Current AS system
• khi_robot version or revision
• Motion script: Is it same as MoveIt Robot motion #47 (comment) ?

[elizatscott]

I am using VMware for Ubuntu 16.04
ASF_010000019
THE SAME KHI ROBOT VERSION CURRENTLY IN THE GITHUB AND THE SAME MOTION SCRIPT @d-nakamichi