robot_enable service fails on YRC1000

[shobhitagg]

Robot: Motoman GP4
Controller: YRC1000
ROS Distribution: Noetic

I installed Motoman ROS on the controller using binary file as per the instruction here

I am trying to control the robot using Moveit configuration (created by following the steps here). Position scaling step works fine.

Before I try to execute motion on the real robot, I call robot_enable service in another terminal (rosservice call robot_enable). I hear click sound, and servo green light on pendant lights up. But I get the following message on terminal:

success: False
message: "Motoman robot was NOT enabled. Please re-examine and retry."

If I try to execute motion using Moveit then, it then naturally gives the following message

Failed to set TrajectoryMode: Not Ready (5) : MotoRos not started (5008)

I verified that the e-stop is release, controller is in remote mode, and since I am able to successfully run motoman_gp4_support launch files (robot_interface_streaming_gp4.launch) MotoRos seems to be installed.

[gavanderhoorn]

Could you attach a copy of the PANELBOX.LOG file from your robot here?

That would let us rule out some potential causes.

[shobhitagg]

I am attaching the PANELBOX.LOG
PANELBOX.LOG

[ted-miller]

Given that the robot does indeed start up, I wonder if it's just a time-out issue. Can you try calling robot_enable a second time, after you see the green light come on? Since the servos are already enabled, it should respond much more quickly.

[shobhitagg]

Update parameter value and telnet
I tried this method, and I still face the same issue with robot_enable rosservice. Telnet connected but didn't prompt for username/password and didn't show any output. Below is a screenshot.

I have attached the Wireshark file. I run the following commands to record it.

1. roslaunch motoman_gp4_support robot_interface_streaming_gp4.launch robot_ip:=192.168.1.7 controller:=yrc1000
2. rosservice call \robot_enable
3. rosservice call \robot_disable
4. rosservice call \robot_enable

robot_enable_issue.zip

[ted-miller]

The telnet didn't work due to specifying port 80. This should be 23. But anyway, I don't think it's necessary.

The robot is replying to the robot_enable with 5008, which means that the INIT_ROS job failed to start on the pendant.

Please try starting this job (or any other job) on the pendant in PLAY mode. I expect that you will receive an error.

My first guess would be that the home position needs to be validated. If you see Check position [R1], then please follow this procedure. https://www.youtube.com/watch?v=pvz3PUMIcXg

If there is some other error, please post a photo of the code/message.

[shobhitagg]

Thanks for your quick response.

There was an R1 error which got fixed after following the video link.

The robot_enable service failed (servo switches on but console prints success: False).
Below is a screenshot from telnet connection (using port 23). It prints Can't start job because: Specified JOB not found

[gavanderhoorn]

Can't start job because: Specified JOB not found

this would seem to point to a problem with your installation.

Could you tell us a bit more about how you installed everything?

Could you show the content of the INIT_ROS job (a picture of the PP with the job open would be ok).

[shobhitagg]

The INIT_ROS was not loaded. I followed the steps from here, and the /robot_enable service worked. Thank you for your prompt responses and for being patient.