message: "\"RAPID task not found among known StateMachine Add-In instances\""

[kalepo]

Im trying to access the rosservice /rws/sm_addin/get_egm_settings to change the Max Speed Deviation but it is showing up with Error:4002 message: ""RAPID task not found among known StateMachine Add-In instances"". What would be the solution to this?

When I try to access the rosservice /rws/sm_addin/set_egm_settings I get the error ERROR: Incompatible arguments to call service:
No key named [settings]
Provided arguments are:

• task (type str)
• settings (type str)

My rapid code has been started and the controller has been changed on another terminal sourced in the same catkin workspace

$ rosservice call /rws/sm_addin/get_egm_settings task
settings: 
  allow_egm_motions: False
  use_presync: False
  setup_uc: 
    use_filtering: False
    comm_timeout: 0.0
  activate: 
    tool: 
      robhold: False
      tframe: 
        trans: 
          x: 0.0
          y: 0.0
          z: 0.0
        rot: 
          q1: 0.0
          q2: 0.0
          q3: 0.0
          q4: 0.0
      tload: 
        mass: 0.0
        cog: 
          x: 0.0
          y: 0.0
          z: 0.0
        aom: 
          q1: 0.0
          q2: 0.0
          q3: 0.0
          q4: 0.0
        ix: 0.0
        iy: 0.0
        iz: 0.0
    wobj: 
      robhold: False
      ufprog: False
      ufmec: ''
      uframe: 
        trans: 
          x: 0.0
          y: 0.0
          z: 0.0
        rot: 
          q1: 0.0
          q2: 0.0
          q3: 0.0
          q4: 0.0
      oframe: 
        trans: 
          x: 0.0
          y: 0.0
          z: 0.0
        rot: 
          q1: 0.0
          q2: 0.0
          q3: 0.0
          q4: 0.0
    correction_frame: 
      trans: 
        x: 0.0
        y: 0.0
        z: 0.0
      rot: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
    sensor_frame: 
      trans: 
        x: 0.0
        y: 0.0
        z: 0.0
      rot: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
    cond_min_max: 0.0
    lp_filter: 0.0
    sample_rate: 0
    max_speed_deviation: 0.0
  run: 
    cond_time: 0.0
    ramp_in_time: 0.0
    offset: 
      trans: 
        x: 0.0
        y: 0.0
        z: 0.0
      rot: 
        q1: 0.0
        q2: 0.0
        q3: 0.0
        q4: 0.0
    pos_corr_gain: 0.0
  stop: 
    ramp_out_time: 0.0
result_code: 4002
message: "\"RAPID task not found among known StateMachine Add-In instances\""

and the get egm settings

$ rosservice call /rws/sm_addin/set_egm_settings task settings
ERROR: Incompatible arguments to call service:
No key named [settings]
Provided arguments are:
 * task (type str)
 * settings (type str)

Service arguments are: [task settings.allow_egm_motions settings.use_presync settings.setup_uc.use_filtering settings.setup_uc.comm_timeout settings.activate.tool.robhold settings.activate.tool.tframe.trans.x settings.activate.tool.tframe.trans.y settings.activate.tool.tframe.trans.z settings.activate.tool.tframe.rot.q1 settings.activate.tool.tframe.rot.q2 settings.activate.tool.tframe.rot.q3 settings.activate.tool.tframe.rot.q4 settings.activate.tool.tload.mass settings.activate.tool.tload.cog.x settings.activate.tool.tload.cog.y settings.activate.tool.tload.cog.z settings.activate.tool.tload.aom.q1 settings.activate.tool.tload.aom.q2 settings.activate.tool.tload.aom.q3 settings.activate.tool.tload.aom.q4 settings.activate.tool.tload.ix settings.activate.tool.tload.iy settings.activate.tool.tload.iz settings.activate.wobj.robhold settings.activate.wobj.ufprog settings.activate.wobj.ufmec settings.activate.wobj.uframe.trans.x settings.activate.wobj.uframe.trans.y settings.activate.wobj.uframe.trans.z settings.activate.wobj.uframe.rot.q1 settings.activate.wobj.uframe.rot.q2 settings.activate.wobj.uframe.rot.q3 settings.activate.wobj.uframe.rot.q4 settings.activate.wobj.oframe.trans.x settings.activate.wobj.oframe.trans.y settings.activate.wobj.oframe.trans.z settings.activate.wobj.oframe.rot.q1 settings.activate.wobj.oframe.rot.q2 settings.activate.wobj.oframe.rot.q3 settings.activate.wobj.oframe.rot.q4 settings.activate.correction_frame.trans.x settings.activate.correction_frame.trans.y settings.activate.correction_frame.trans.z settings.activate.correction_frame.rot.q1 settings.activate.correction_frame.rot.q2 settings.activate.correction_frame.rot.q3 settings.activate.correction_frame.rot.q4 settings.activate.sensor_frame.trans.x settings.activate.sensor_frame.trans.y settings.activate.sensor_frame.trans.z settings.activate.sensor_frame.rot.q1 settings.activate.sensor_frame.rot.q2 settings.activate.sensor_frame.rot.q3 settings.activate.sensor_frame.rot.q4 settings.activate.cond_min_max settings.activate.lp_filter settings.activate.sample_rate settings.activate.max_speed_deviation settings.run.cond_time settings.run.ramp_in_time settings.run.offset.trans.x settings.run.offset.trans.y settings.run.offset.trans.z settings.run.offset.rot.q1 settings.run.offset.rot.q2 settings.run.offset.rot.q3 settings.run.offset.rot.q4 settings.run.pos_corr_gain settings.stop.ramp_out_time]

[gavanderhoorn]

rosservice call /rws/sm_addin/get_egm_settings task

As the documentation shows, task is an argument to the service.

That's something you need to provide (ie: replace the word task with the name of the RAPID task for which you want to retrieve the EGM settings).

For most single arm robots, that'll probably be T_ROB1.

Same for set_egm_settings: task would be the name of the RAPID task. settings would be a dict containing the new EGM settings.

[gavanderhoorn]

You could take a look at #16 (comment), which shows a rudimentary script which retrieves, updates and saves the EGM settings dict of the T_ROB1 task.

[gavanderhoorn]

You could also take a look at sam-xl/abb_robot_driver_state_machine, which provides a state machine which will manage the driver for you.

Be sure to read the documentation though, as it addresses a very specific use-case and has a few limitations.

[kalepo]

That makes sense, all sorted now. Thanks @gavanderhoorn