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How to install hiveground-ros-package to run a real Denso VP6242 #1

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lacduong opened this issue Dec 21, 2017 · 30 comments
Open

How to install hiveground-ros-package to run a real Denso VP6242 #1

lacduong opened this issue Dec 21, 2017 · 30 comments

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@lacduong
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lacduong commented Dec 21, 2017 •
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Dear Hiveground,

I would like to run a real denso vp6242 by using hiveground-ros-package. I know some one has been control the VP6242 using this package: https://www.youtube.com/watch?v=YPeO9Cnv_9I

I have been git the package: denso_bcap-master, vp6242_description and denso_rc7m_controller-master.

When I run the denso_rc7m_controller.launch It can't run and have some error issues:

screenshot from 2017-12-21 14-19-53

Whether the denso_rc7m_controller-master has to need the "ros_control package" as the README.md in https://github.com/hiveground-ros-package/denso_rc7m_controller. If that right, How I can install ros_control package for denso_rc7m_controller-master.

Your help is so appreciate!
Best,
Duong Van Lac
@lacduong lacduong changed the title How to install hiveground-ros-package to run a real Denso VP6241 How to install hiveground-ros-package to run a real Denso VP6242 Dec 21, 2017
@mahisorn
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mahisorn commented Dec 21, 2017 via email

@lacduong
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Dear mahisorn,

Thank @mahisorn for your help.

I have been installed a free license for b-cap, and I tested it using the Denso b-cap tester, It runs ok~!

I would like to run DENSO using ROS. Your ROS package uses for RC7. My DENSO control is RC8, so you can help me know the difference between RC7 and RC8?

Best,

@mahisorn
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mahisorn commented Dec 22, 2017 via email

@yo4hi6o
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yo4hi6o commented Apr 15, 2021

Dear mahisorn,

Thank @mahisorn for your help.

I have been installed a free license for b-cap, and I tested it using the Denso b-cap tester, It runs ok~!

I would like to run DENSO using ROS. Your ROS package uses for RC7. My DENSO control is RC8, so you can help me know the difference between RC7 and RC8?

Best,
Hello, Duong Van Lac lacduong

It was an issue a long time ago, but now I am thinking of using ROS with a combination of the DENSO robot VP-6242 and the RC7 controller.
The purpose is a combination of OpenCV and DENSO robots.
Did you get ROS working fine on RC7 after this?
Also, could you please tell me how you got the b-cap free license?
Please.

@lacduong
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lacduong commented Apr 15, 2021 •
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Hello @yo4hi6o

I think they are similar.
It works well, you can register the free b-cap license by following the instruction in this website:
http://wiki.ros.org/denso_robot_ros/Tutorials/How%20to%20control%20an%20RC8%20with%20MoveIt%21

@yo4hi6o
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yo4hi6o commented Apr 15, 2021

Hello Duong!

Thank you!
I'll give it a try.

@mahisorn
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mahisorn commented Apr 16, 2021 via email

@lacduong
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@yo4hi6o
I think you should use the source from DENSO company

https://github.com/DENSORobot/denso_robot_ros

@yo4hi6o
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yo4hi6o commented Apr 18, 2021

Thank you, Duong!

After that, I thought so too. When I contacted DENSO, it was said that the RC7 b-cap license would be issued for a fee. So I will try it once.

@yo4hi6o
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yo4hi6o commented Apr 18, 2021

このリポジトリがまだ役立つと聞いてうれしいです:)
…
2021年4月15日木曜日午前8時17分yo4hi6o *** @ 。>書き込み：Hello Duong！ありがとうございました！やってみます。—あなたが言及されたのであなたはこれを受け取っています。このメールに直接返信するか、GitHub < ＃1（コメント） >で表示するか、登録を解除してください< https://github.com/notifications/unsubscribe-auth/AA75F6Y35RTUNIGCNKQ3ECLTIY5BHANCNFSM4EJFPNTA >。
--Mahisorn Wongphati、PhD。共同創設者、CEO HG Robotics Co.、 Ltd。Web ：https：//www.hiveground.com Tel：+ 66-2-163-4654 Mob：+ 66-88-801-9585
Hello, mahisorn!

I couldn't find it because of the old content! It may help you to make this in the past.
Now, we are trying to utilize the old DENSO robot in Japan.
Unlike those days, object detection cameras have advanced.
Thank you!

@yo4hi6o
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yo4hi6o commented Apr 21, 2021

Dear mahisorn,

DENSORobot/denso_robot_ros#39 (comment)
I made an official inquiry to DENSO, but the answer was that RC7 and ROS services were not provided from the beginning.
Denso RC7M controller interface (http://www.denso-wave.com/en/robot/product/controller/rc7m.html) Needs ros_control package
Is it possible to move it if I can get it?
Can't you get this again?

@mahisorn
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mahisorn commented Apr 21, 2021 via email

@yo4hi6o
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yo4hi6o commented Jun 23, 2021

dear lacduong

After overcoming many issues such as compilation errors, I have reached the error you reached. I don't know if you remember it because it's an old problem, but do you remember this solution? Is there a place to enter the license key for the b-cap tester?
Thank you very much.

スクリーンショット 2021-06-23 13 50 24

@mahisorn
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mahisorn commented Jun 23, 2021 via email

@yo4hi6o
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yo4hi6o commented Jun 23, 2021

dear mahisorn !

Thank you for your reply!
I check it out

I'm working on it while learning ROS, so it will take some time, but I'll do my best to make this code available in my current environment!

@yo4hi6o
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yo4hi6o commented Jun 23, 2021

dear mahisorn !

In the ~ / etc / security / limits.config file, I set memlock with "100000" as the user name and ran "roslaunch denso_rc7m_controller_v1.1.launch" again, but I get the same error. Is there any other way to allocate memory for real-time tasks?

スクリーンショット 2021-06-23 16 41 30

@mahisorn
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mahisorn commented Jun 23, 2021 via email

@yo4hi6o
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yo4hi6o commented Jun 24, 2021

@mahisorn
When I started it with root privileges, it seems to be okay. I haven't obtained the b-cap license yet, so I haven't connected to the denso robot itself. Therefore, I think that the following error has occurred. Is this correct? "[FATAL] [1624491337.039035829]: joint1 not exist"

root@ubuntu:/home/yo4hi6o/denso_ws/src/denso_rc7m_controller/launch# roslaunch denso_rc7m_controller_v1.1.launch
... logging to /root/.ros/log/b4b4ff68-d47b-11eb-8175-b32811801e7e/roslaunch-ubuntu-5111.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global symbol: pi
when processing file: /home/yo4hi6o/denso_ws/src/vp6242_description/robot/vp6242.urdf.xacro
started roslaunch server http://ubuntu:42451/

SUMMARY
========

PARAMETERS
 * /JointStateController/publish_rate: 100
 * /JointStateController/type: joint_state_contr...
 * /denso_rc7m_controller_node/Joint1Controller/joint: joint1
 * /denso_rc7m_controller_node/Joint1Controller/type: position_controll...
 * /denso_rc7m_controller_node/PTPController/joints: ['joint1', 'joint...
 * /denso_rc7m_controller_node/PTPController/type: hiveground_contro...
 * /denso_rc7m_controller_node/ip: 10.0.0.101
 * /denso_rc7m_controller_node/port: 5007
 * /denso_rc7m_controller_node/prefix: 
 * /denso_rc7m_controller_node/realtime: True
 * /denso_rc7m_controller_node/simulate: False
 * /robot_description: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.15.11

NODES
  /
    denso_rc7m_controller_node (denso_rc7m_controller/denso_rc7m_controller)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [5121]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to b4b4ff68-d47b-11eb-8175-b32811801e7e
process[rosout-1]: started with pid [5131]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [5138]
process[denso_rc7m_controller_node-3]: started with pid [5139]
[ INFO] [1624491335.871583741]: real-time: 1
[ INFO] [1624491336.031351021]: Control thread inherited: policy= SCHED_OTHER, priority=0
[ INFO] [1624491337.032620780]: Control thread changed: policy= SCHED_FIFO, priority=99
[ INFO] [1624491337.035908596]: vp6242
[ INFO] [1624491337.038878541]: prefix: 
[FATAL] [1624491337.039035829]: joint1 not exist
[FATAL] [1624491337.039110464]: joint2 not exist
[FATAL] [1624491337.039161829]: joint3 not exist
[FATAL] [1624491337.039212346]: joint4 not exist
[FATAL] [1624491337.039263027]: joint5 not exist
[FATAL] [1624491337.039332330]: joint6 not exist
[ INFO] [1624491337.039411159]: position_joint_interface: 0
[ INFO] [1624491337.127932332]: Connecting to 10.0.0.101:5007 ...
10.0.0.101:5007

@mahisorn
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mahisorn commented Jun 28, 2021 via email

@yo4hi6o
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yo4hi6o commented Jul 8, 2021

dear @mahisorn !

It's a long time ago, but you may not remember it.
The b-cap communication between the actual VP6242A and the host OS is complete.
Next, [roslaunch denso_rc7m_controller_v1.1.launch]
It was executed, but after all I get the "[FATAL] JOINT1 not exit .." error.
I'm running ROS on a virtual machine with a Win10 host OS and I'm currently checking for connectivity issues. Is there any other possible cause?

It's a long time ago, but could you somehow help me?

Thank you very much.

image

@mahisorn
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mahisorn commented Jul 8, 2021 via email

@yo4hi6o
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yo4hi6o commented Jul 8, 2021

Previously, the same error occurred even without hardware like when I sent it, so I thought it was an error that would occur if I did not connect to the hardware.

@yo4hi6o
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yo4hi6o commented Jul 8, 2021

"Roslaunch denso_rc7m_controller_v1.1.launch without hardware connection"
"At another terminal" roslaunch urdf_tutorial display.launch model: = vp6242.urdf
"When you start the urdf file, probably because of a joint error, the unjoined part is not displayed.

image

@mahisorn
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mahisorn commented Jul 8, 2021 via email

@yo4hi6o
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yo4hi6o commented Jul 8, 2021

dear @mahisorn

understood! Let's explore the problem this time while checking the moveit tutorial once. Thank you, I really appreciate it!

@yo4hi6o
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yo4hi6o commented Jul 12, 2021 •
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dear @mahisorn

I may not remember it in the past, but I'm sorry.

We have also finished creating moveit.Rviz.

It seems that a JOINT error occurred because [joint state publisher] was not put in the workspace.
Currently, JOINT is ready,
[Terminate called after throwing an instance of'boost :: wrapexcept '
what (): connect: Network is unreachable
] Error has occurred. Does this require something like entering the license key in the bcap_serial.cpp file? Or is it some other intended error?

I really appreciate your help.

image

2021/07/12‐10:52 [Supplement] It seems that an error occurs when changing the network settings of LINUX. Occurs when changing the virtual machine settings from NAT settings to bridge settings. Is it an error caused by network communication?

2021/07/14‐12:06 When I changed to the host OS Linux and set the IP address on the PC side and robot controller side, the following error occurred.

[[INFO] [1626164446.126902308]: position_joint_interface: 6
[INFO] [1626164446.177425586]: Connecting to 192.168.1.1:5007 ...
192.168.1.1:5007
terminate called after throwing an instance of'boost :: wrapexcept '
what (): receive_from: Connection refused
[denso_rc7m_controller_node-2] process has died [pid 3154, exit code -6, cmd /home/yo4hi6o/denso_ws2/devel/lib/denso_rc7m_controller/denso_rc7m_controller __name: = denso_rc7m_controller_node __log: = / root / .ros / log / 1a69f774-e -11eb-af58-9dffda35f06b / denso_rc7m_controller_node-2.log].
log file: /root/.ros/log/1a69f774-e3b2-11eb-af58-9dffda35f06b/denso_rc7m_controller_node-2*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor ...
... shutting down processing monitor complete
done done

@yo4hi6o
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yo4hi6o commented Sep 6, 2021

@mahisorn

I'm sorry while I'm busy. We are still in the process of restoring your repository. Currently, we are working with a university in Kyushu.
So, does the "You will need a special license from DENSO" you mentioned at the beginning mean a b-cap slave mode license?
I've researched various things, but it seems that there is no other license that seems to be related to ROS.

image

@mahisorn
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mahisorn commented Sep 6, 2021 via email

@yo4hi6o
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yo4hi6o commented Oct 1, 2021

Hi @mahisorn

I got a slave license key yesterday.
First we will try to match everything to the environment in which you were using this repository.
Can you tell me the version of ROS you were using?
I think this repository was created at the time, probably GROOVY or HYDRO.

Screenshot from 2021-09-30 13-17-47

@mahisorn
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mahisorn commented Oct 1, 2021 via email

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