{"action":"opened","issue":{"url":"https://api.github.com/repos/ros-industrial/motoman/issues/251","repository_url":"https://api.github.com/repos/ros-industrial/motoman","labels_url":"https://api.github.com/repos/ros-industrial/motoman/issues/251/labels{/name}","comments_url":"https://api.github.com/repos/ros-industrial/motoman/issues/251/comments","events_url":"https://api.github.com/repos/ros-industrial/motoman/issues/251/events","html_url":"https://github.com/ros-industrial/motoman/issues/251","id":374913791,"node_id":"MDU6SXNzdWUzNzQ5MTM3OTE=","number":251,"title":"Problem with operating the 15 DOF of CSDA10F at the same time.","user":{"login":"Danfoa","id":8356912,"node_id":"MDQ6VXNlcjgzNTY5MTI=","avatar_url":"https://avatars3.githubusercontent.com/u/8356912?v=4","gravatar_id":"","url":"https://api.github.com/users/Danfoa","html_url":"https://github.com/Danfoa","followers_url":"https://api.github.com/users/Danfoa/followers","following_url":"https://api.github.com/users/Danfoa/following{/other_user}","gists_url":"https://api.github.com/users/Danfoa/gists{/gist_id}","starred_url":"https://api.github.com/users/Danfoa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Danfoa/subscriptions","organizations_url":"https://api.github.com/users/Danfoa/orgs","repos_url":"https://api.github.com/users/Danfoa/repos","events_url":"https://api.github.com/users/Danfoa/events{/privacy}","received_events_url":"https://api.github.com/users/Danfoa/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-10-29T08:55:34Z","updated_at":"2018-10-29T08:55:34Z","closed_at":null,"author_association":"NONE","body":"Good day,\r\nAfter following the configuration instructions to use a dual arm Motoman Robot, the CSDA10F, we have encountered a small problem while operating the 15 DOF at the same time, we get an error stating that the start point of the `joint_path_command` is not the same as the start pose of the robot. \r\n\r\nAfter digging into the problem I know the source of the issue but not how to solve it. The `joint_path_command` always cero one or the two torso joints (one is a mirror of the other in the URDF). Which triggers the error when the `motion_streaming_interface` checks the start state.\r\n\r\nThe support package of the CSDA10F was uploaded by us and can be found in the [Motoman Experimental Repository](https://github.com/ros-industrial/motoman_experimental/tree/kinetic-devel/motoman_csda10f_support), where the [joint_names_csda10f.yaml](https://github.com/ros-industrial/motoman_experimental/tree/kinetic-devel/motoman_csda10f_support/config), and [csda10f_motion_interface.yaml](https://github.com/ros-industrial/motoman_experimental/tree/kinetic-devel/motoman_csda10f_support/config) are. \r\n\r\nAlso the moveit [controller.yaml ](https://github.com/Danfoa/invite-robotics/tree/developmental/invite_motoman_moveit_config/config) configuration we use is here.\r\n\r\nHere is the planning command for a 15 DOF motion with the move group `csda10f`, as you see the last group, which corresponts to one of the torso joints, is cero out. \r\n```\r\nrostopic echo /joint_path_command\r\nheader: \r\n  seq: 0\r\n  stamp: \r\n    secs: 1540804125\r\n    nsecs: 866326580\r\n  frame_id: \"/base_link\"\r\njoint_names: [arm_left_joint_1_s, arm_left_joint_2_l, arm_left_joint_3_e, arm_left_joint_4_u, arm_left_joint_5_r,\r\n  arm_left_joint_6_b, arm_left_joint_7_t, arm_right_joint_1_s, arm_right_joint_2_l,\r\n  arm_right_joint_3_e, arm_right_joint_4_u, arm_right_joint_5_r, arm_right_joint_6_b,\r\n  arm_right_joint_7_t, torso_joint_b1, torso_joint_b2]\r\npoints: \r\n  - \r\n    num_groups: 4\r\n    groups: \r\n      - \r\n        group_number: 0\r\n        num_joints: 7\r\n        valid_fields: 0\r\n        positions: [-0.2465789020061493, 1.3706119060516357, 0.042617324739694595, -0.6750122904777527, 3.111323118209839, 1.1329739093780518, 2.3026256561279297]\r\n        velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n        accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n        effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n        time_from_start: \r\n          secs: 0\r\n          nsecs:         0\r\n      - \r\n        group_number: 1\r\n        num_joints: 7\r\n        valid_fields: 0\r\n        positions: [-0.3837849795818329, 0.3498840034008026, -0.48697054386138916, -0.799386203289032, -0.6211710572242737, -0.8425199389457703, -2.3632328510284424]\r\n        velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n        accelerations: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n        effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]\r\n        time_from_start: \r\n          secs: 0\r\n          nsecs:         0\r\n      - \r\n        group_number: 2\r\n        num_joints: 1\r\n        valid_fields: 0\r\n        positions: [-1.2986000776290894]\r\n        velocities: [0.0]\r\n        accelerations: [0.00032456790385969195]\r\n        effort: [0.0]\r\n        time_from_start: \r\n          secs: 0\r\n          nsecs:         0\r\n      - \r\n        group_number: 3\r\n        num_joints: 1\r\n        valid_fields: 0\r\n        positions: [0.0]                # This is the error, position, and acceleration should be the same as the joint above.\r\n        velocities: [0.0]\r\n        accelerations: [0.0]\r\n        effort: [0.0]\r\n        time_from_start: \r\n          secs: 0\r\n          nsecs:         0\r\n  - \r\n```\r\nAnd when I use a motion group that plans only for the two arms (not base), the same error ocures but this time the `/joint_path_command` topic sends a message just like the one above but with both torso joints cero out. I am not even sure if the torso joints should appear in this case since we are not planning for them.\r\n\r\nCan anyone please enlight me on the source of the issue? \r\n\r\nPS: Joint states are currently working perfectly, I can acquire the complete robot state, and we are able to move the move groups of 'arm_right', 'arm_left' and 'torso' separately but not combined.\r\n\r\nThis issue is related to #217,but this time I am personally at the robot and noticed the error source. "}}
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