Can't start driver correctly on Yaskawa HC10DTP #546

leets0429 · 2023-05-24T10:39:05Z

leets0429
May 24, 2023

Version: Ubuntu 20.04 ROS Noetic
Robot: Yaskawa HC10DTP, YRC1000m

I've followed the instruction here http://wiki.ros.org/motoman_driver/Tutorials/indigo/InstallServer and installed the necessary drivers.

I tried running the following code:
roslaunch motoman_hc10_support robot_interface_streaming_hc10dt.launch controller:=yrc1000 robot_ip:=192.168.1.100

and I received the following error:

I checked the connection between my pc and the robot via pinging and it works.

Did I do something wrong in the installation?

Answered by gavanderhoorn

May 24, 2023

Are you on a wireless network?

Or is there a wireless segment between your ROS PC and the YRC1000u?

If yes: make sure to use a wired connection.

Wireless connections are not supported.

Edit: from your wireshark capture it does look like you are using an Intel wireless network card (MAC OUI f4:46:37).

That would be the cause of the error. Your wireless connection is not stable enough, and causes the driver to disconnect.

View full answer

gavanderhoorn · 2023-05-24T10:53:36Z

gavanderhoorn
May 24, 2023
Maintainer

This looks like a networking issue. Either the YRC1000u is closing connections, or something in between your ROS PC and the YRC1000u is.

Could you do three things:

use Wireshark to capture the network traffic between your ROS PC and the YRC1000u. Start a capture, then
run roslaunch --screen motoman_hc10_support robot_interface_streaming_hc10dt.launch controller:=yrc1000 robot_ip:=192.168.1.100. You'll probably see the same error(s), you can ctrl+c the driver after 10 seconds or so.
check the firewall settings on your Ubuntu machine (ufw status in a terminal)

Stop the capture and save it to a file. Zip it.

Attach the capture .zip here.

And post the roslaunch terminal output as a comment here. Don't use screenshots. It's all text. Just copy-paste it.

5 replies

leets0429 May 24, 2023
Author

Running ufw status returned:
Status: inactive

Terminal output:

PARAMETERS
 * /controller_joint_names: ['joint_1_s', 'jo...
 * /io_relay/port: 50242
 * /robot_ip_address: 192.168.1.100
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    io_relay (motoman_driver/io_relay)
    joint_state (motoman_driver/robot_state)
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    motion_streaming_interface (motoman_driver/motion_streaming_interface)

auto-starting new master
process[master]: started with pid [66306]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c8acb1ee-fa23-11ed-94fb-b5f0c36592fc
process[rosout-1]: started with pid [66331]
started core service [/rosout]
process[joint_state-2]: started with pid [66334]
process[motion_streaming_interface-3]: started with pid [66336]
process[io_relay-4]: started with pid [66340]
process[joint_trajectory_action-5]: started with pid [66342]
[ WARN] [1684926712.128968778]: Unable to read velocity limits from 'robot_description' param.  Velocity validation disabled.
[ WARN] [1684926712.139054470]: Tried to connect when socket already in connected state
[ WARN] [1684926713.126278110]: Trajectory state not received for 1.000000 seconds

yaskawa_connection.zip

gavanderhoorn May 24, 2023
Maintainer

Please verify you ran roslaunch --screen .., not just roslaunch. I would expect different output if you ran it with --screen.

I also don't see errors any more. Did you not get any?

leets0429 May 24, 2023
Author

Sorry, I thought it was the same command.

The error doesn't appear immediately, it pops after sometimes.

PARAMETERS
 * /controller_joint_names: ['joint_1_s', 'jo...
 * /io_relay/port: 50242
 * /robot_ip_address: 192.168.1.100
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    io_relay (motoman_driver/io_relay)
    joint_state (motoman_driver/robot_state)
    joint_trajectory_action (industrial_robot_client/joint_trajectory_action)
    motion_streaming_interface (motoman_driver/motion_streaming_interface)

auto-starting new master
process[master]: started with pid [69689]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 91011e76-fa26-11ed-94fb-b5f0c36592fc
process[rosout-1]: started with pid [69714]
started core service [/rosout]
process[joint_state-2]: started with pid [69717]
process[motion_streaming_interface-3]: started with pid [69721]
process[io_relay-4]: started with pid [69723]
process[joint_trajectory_action-5]: started with pid [69724]
[ INFO] [1684927907.205288220]: Added message handler for message type: 0
[ INFO] [1684927907.207267654]: Robot state connecting to IP address: '192.168.1.100:50241'
[ INFO] [1684927907.207489371]: Failed to find 'topic_list' parameter
[ INFO] [1684927907.207500373]: Expecting/assuming single motion-group controller configuration
[ INFO] [1684927907.208518082]: Adding joint_1_s to list parameter
[ INFO] [1684927907.208535726]: Adding joint_2_l to list parameter
[ INFO] [1684927907.208544301]: Adding joint_3_u to list parameter
[ INFO] [1684927907.208552103]: Adding joint_4_r to list parameter
[ INFO] [1684927907.208560475]: Adding joint_5_b to list parameter
[ INFO] [1684927907.208576774]: Adding joint_6_t to list parameter
[ INFO] [1684927907.208592749]: Found user-specified joint names in 'controller_joint_names': [joint_1_s, joint_2_l, joint_3_u, joint_4_r, joint_5_b, joint_6_t]
[ INFO] [1684927907.212822935]: Joint Trajectory Interface connecting to IP address: '192.168.1.100:50240'
[ INFO] [1684927907.213505577]: Failed to find 'topic_list' parameter
[ INFO] [1684927907.213522206]: Expecting/assuming single motion-group controller configuration
[ INFO] [1684927907.213780931]: Adding joint_1_s to list parameter
[ INFO] [1684927907.213792240]: Adding joint_2_l to list parameter
[ INFO] [1684927907.213799444]: Adding joint_3_u to list parameter
[ INFO] [1684927907.213806081]: Adding joint_4_r to list parameter
[ INFO] [1684927907.213812206]: Adding joint_5_b to list parameter
[ INFO] [1684927907.213818601]: Adding joint_6_t to list parameter
[ INFO] [1684927907.213829719]: Found user-specified joint names in 'controller_joint_names': [joint_1_s, joint_2_l, joint_3_u, joint_4_r, joint_5_b, joint_6_t]
[ INFO] [1684927907.213839158]: MotomanJointTrajectoryStreamer: init
[ INFO] [1684927907.213846105]: JointTrajectoryStreamer: init
[ INFO] [1684927907.215566731]: Connected to server
[ INFO] [1684927907.215603894]: Initializing message manager with default comms fault handler
[ INFO] [1684927907.215627986]: Default communications fault handler successfully initialized
[ INFO] [1684927907.215646603]: Initializing message manager
[ INFO] [1684927907.215665680]: Added message handler for message type: 1
[ INFO] [1684927907.215665807]: Connected to server
[ INFO] [1684927907.217655917]: Adding joint_1_s to list parameter
[ INFO] [1684927907.218412943]: Added message handler for message type: 10
[ INFO] [1684927907.219003723]: Connected to server
[ INFO] [1684927907.219237884]: Adding joint_2_l to list parameter
[ INFO] [1684927907.219257134]: Adding joint_3_u to list parameter
[ INFO] [1684927907.219266871]: Adding joint_4_r to list parameter
[ INFO] [1684927907.219279942]: Adding joint_5_b to list parameter
[ INFO] [1684927907.219300356]: Adding joint_6_t to list parameter
[ INFO] [1684927907.219319481]: Found user-specified joint names in 'controller_joint_names': [joint_1_s, joint_2_l, joint_3_u, joint_4_r, joint_5_b, joint_6_t]
[ INFO] [1684927907.219338349]: Filtered joint names to 6 joints
[ INFO] [1684927907.219674934]: Added message handler for message type: 15
[ WARN] [1684927907.220031737]: Unable to read velocity limits from 'robot_description' param.  Velocity validation disabled.
[ INFO] [1684927907.220903081]: Entering message manager spin loop
[ INFO] [1684927907.226462732]: Unlocking mutex
[ INFO] [1684927907.226527151]: Starting Motoman joint trajectory streamer thread
[ INFO] [1684927907.231678272]: Connecting to robot motion server
[ WARN] [1684927907.231695642]: Tried to connect when socket already in connected state
[ WARN] [1684927908.225576660]: Trajectory state not received for 1.000000 seconds
[ERROR] [1684927982.743674068]: Socket received failed, rc: -1. Error: 'Connection reset by peer' (errno: 104)
[ERROR] [1684927982.743769932]: Failed to receive message length
[ERROR] [1684927982.743822267]: Failed to receive incoming message
[ WARN] [1684927982.743840519]: Send failure, no callback support
[ INFO] [1684927987.744100088]: Connection failed, attempting reconnect
[ INFO] [1684927987.750664494]: Connected to server
^C[joint_trajectory_action-5] killing on exit
[io_relay-4] killing on exit
[motion_streaming_interface-3] killing on exit
[joint_state-2] killing on exit
[ERROR] [1684928024.937032461]: Socket select function failed, rc: -1. Error: 'Interrupted system call' (errno: 4)
motion_streaming_interface: /usr/include/boost/thread/pthread/mutex.hpp:56: boost::mutex::~mutex(): Assertion `!posix::pthread_mutex_destroy(&m)' failed.
[joint_state-2] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

yaskawa_connection.zip

gavanderhoorn May 24, 2023
Maintainer

Are you on a wireless network?

Or is there a wireless segment between your ROS PC and the YRC1000u?

If yes: make sure to use a wired connection.

Wireless connections are not supported.

Edit: from your wireshark capture it does look like you are using an Intel wireless network card (MAC OUI f4:46:37).

That would be the cause of the error. Your wireless connection is not stable enough, and causes the driver to disconnect.

Answer selected by leets0429

leets0429 May 24, 2023
Author

I tried with wired connection and now I can control the robot via Moveit. Thank you very much

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Can't start driver correctly on Yaskawa HC10DTP #546

leets0429 May 24, 2023

Replies: 1 comment · 5 replies

gavanderhoorn May 24, 2023 Maintainer

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