{"action":"created","issue":{"url":"https://api.github.com/repos/Kinovarobotics/kinova-ros/issues/176","repository_url":"https://api.github.com/repos/Kinovarobotics/kinova-ros","labels_url":"https://api.github.com/repos/Kinovarobotics/kinova-ros/issues/176/labels{/name}","comments_url":"https://api.github.com/repos/Kinovarobotics/kinova-ros/issues/176/comments","events_url":"https://api.github.com/repos/Kinovarobotics/kinova-ros/issues/176/events","html_url":"https://github.com/Kinovarobotics/kinova-ros/issues/176","id":374429939,"node_id":"MDU6SXNzdWUzNzQ0Mjk5Mzk=","number":176,"title":"Finger Action Server not working","user":{"login":"Behery","id":794724,"node_id":"MDQ6VXNlcjc5NDcyNA==","avatar_url":"https://avatars2.githubusercontent.com/u/794724?v=4","gravatar_id":"","url":"https://api.github.com/users/Behery","html_url":"https://github.com/Behery","followers_url":"https://api.github.com/users/Behery/followers","following_url":"https://api.github.com/users/Behery/following{/other_user}","gists_url":"https://api.github.com/users/Behery/gists{/gist_id}","starred_url":"https://api.github.com/users/Behery/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Behery/subscriptions","organizations_url":"https://api.github.com/users/Behery/orgs","repos_url":"https://api.github.com/users/Behery/repos","events_url":"https://api.github.com/users/Behery/events{/privacy}","received_events_url":"https://api.github.com/users/Behery/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-10-26T15:16:30Z","updated_at":"2018-10-26T15:43:13Z","closed_at":null,"author_association":"NONE","body":"Hi, \r\nI'm trying to move the fingers of my JACO 2 arm, using the demo finger position client but it's not working.\r\nI'm using the demo from the readme:\r\n```\r\n$ rosrun kinova_demo fingers_action_client.py j2n6s300 percent -- 100 100 100\r\n   obtained current finger position \r\n   Sending finger position ...\r\n   Finger position sent!\r\n```\r\nBut on the bring-up terminal I'm getting the following:\r\n```\r\n[DEBUG] [1540566817.171801810]: The action server has received a new goal request\r\n[DEBUG] [1540566817.171956712]: A new goal has been recieved by the single goal action server\r\n[DEBUG] [1540566817.172216194]: Accepting a new goal\r\n[DEBUG] [1540566817.172275810]: Accepting goal, id: /j2n6s300_gripper_workout-1-1540566817.141, stamp: 1540566817.14\r\n[ERROR] [1540566817.184697382]: KinovaCommException: Wrong control type (return code: 1)\r\n\r\n[DEBUG] [1540566817.184956713]: Setting the current goal as aborted\r\n[DEBUG] [1540566817.185078694]: Setting status to aborted on goal, id: /j2n6s300_gripper_workout-1-1540566817.141, stamp: 1540566817.14\r\n[DEBUG] [1540566817.185192306]: Publishing result for goal with id: /j2n6s300_gripper_workout-1-1540566817.141 and stamp: 1540566817.14\r\n[DEBUG] [1540566817.188516965]: void kinova::KinovaFingersActionServer::actionCallback(const SetFingersPositionGoalConstPtr&): LINE 177, setAborted \r\n```\r\n\r\nIn the result topic I'm getting:\r\n```\r\n$ rostopic echo /j2n6s300_driver/fingers_action/finger_positions/result \r\nheader: \r\n  seq: 0\r\n  stamp: \r\n    secs: 1540566817\r\n    nsecs: 185163019\r\n  frame_id: ''\r\nstatus: \r\n  goal_id: \r\n    stamp: \r\n      secs: 1540566817\r\n      nsecs: 140717983\r\n    id: \"/j2n6s300_gripper_workout-1-1540566817.141\"\r\n  status: 4\r\n  text: ''\r\nresult: \r\n  fingers: \r\n    finger1: 0.25\r\n    finger2: 0.25\r\n    finger3: 0.25\r\n---\r\n```\r\nWhat am I doing wrong here? how can I set the right control type?\r\n\r\nAlso, is there another way to move the fingers?\r\n\r\nThanks :) \r\n"},"comment":{"url":"https://api.github.com/repos/Kinovarobotics/kinova-ros/issues/comments/433452199","html_url":"https://github.com/Kinovarobotics/kinova-ros/issues/176#issuecomment-433452199","issue_url":"https://api.github.com/repos/Kinovarobotics/kinova-ros/issues/176","id":433452199,"node_id":"MDEyOklzc3VlQ29tbWVudDQzMzQ1MjE5OQ==","user":{"login":"nsaif-kinova","id":35464719,"node_id":"MDQ6VXNlcjM1NDY0NzE5","avatar_url":"https://avatars2.githubusercontent.com/u/35464719?v=4","gravatar_id":"","url":"https://api.github.com/users/nsaif-kinova","html_url":"https://github.com/nsaif-kinova","followers_url":"https://api.github.com/users/nsaif-kinova/followers","following_url":"https://api.github.com/users/nsaif-kinova/following{/other_user}","gists_url":"https://api.github.com/users/nsaif-kinova/gists{/gist_id}","starred_url":"https://api.github.com/users/nsaif-kinova/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nsaif-kinova/subscriptions","organizations_url":"https://api.github.com/users/nsaif-kinova/orgs","repos_url":"https://api.github.com/users/nsaif-kinova/repos","events_url":"https://api.github.com/users/nsaif-kinova/events{/privacy}","received_events_url":"https://api.github.com/users/nsaif-kinova/received_events","type":"User","site_admin":false},"created_at":"2018-10-26T15:43:13Z","updated_at":"2018-10-26T15:43:13Z","author_association":"CONTRIBUTOR","body":"Hello Anwar,\r\nWhen you try to move the robot fingers using a joystick are they moving?\r\nPlease note when you turn the robot ON you have to send it Home and initialise the fingers by opening them completely, otherwise you will not be able to use them.\r\n \r\nUsually `roslaunch kinova_bringup kinova_robot.launch kinova_robotType:=j2n6s300` will open the fingers completely to initialise them. Is this happening when you launch the command?\r\n\r\n`rosrun kinova_demo fingers_action_client.py j2n6s300 percent --100 100 100` will completly close the fingers.\r\n`rosrun kinova_demo fingers_action_client.py j2n6s300 percent -- 0 0 0 `will completly open the fingers.\r\n\r\nTo monitor the finger positions please use this command `rostopic echo /j2n6s300_driver/out/finger_position` 0 means completely open, a value over 6000 means fingers closed.\r\n \r\nPlease let me know if this will help solving your problem, sincerely,"}}
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