{"id":2322,"date":"2020-07-23T12:41:14","date_gmt":"2020-07-23T03:41:14","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2322"},"modified":"2020-07-23T13:35:25","modified_gmt":"2020-07-23T04:35:25","slug":"2322","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2322","title":{"rendered":"gripper\u306f\u52d5\u304f\u3051\u3069joint\u90e8\u304c\u52d5\u304b\u306a\u3044\uff08Cobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b\u306e\u30c8\u30e9\u30d6\u30eb\uff09"},"content":{"rendered":"

Cobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b<\/a>\u306b\u3066\uff0cgripper\u306f\u52d5\u304f\u3051\u3069joint\u90e8\u304c\u52d5\u304b\u306a\u3044\u72b6\u614b\u306b\u306a\u3063\u305f\u306e\u3067\uff0c\u8abf\u6574\u306e\u30e1\u30e2\uff0e<\/p>\n

\u307e\u305a\uff0c\u30a8\u30e9\u30fc\u3084\u8b66\u544a\u3068\u3057\u3066\uff0c\u6c17\u306b\u306a\u308b\u90e8\u5206\u3092\u30d4\u30c3\u30af\u30a2\u30c3\u30d7\uff0e<\/p>\n

\r\n[ WARN] [1595471682.236313106]: Kinematics solver doesn't support #attempts anymore, but only a timeout.\r\nPlease remove the parameter '\/robot_description_kinematics\/arm\/kinematics_solver_attempts' from your configuration.\r\n<\/pre>\n
\u3053\u308c\u306f\uff0cCobotta \u306b\u9650\u3089\u305a\uff0cMelodic \u3092\u4f7f\u3063\u305f\u3068\u304d\u306b\u51fa\u3066\u304d\u305f\u8b66\u544a\u3067\uff0cattempts \u3092\u3082\u3046\u30b5\u30dd\u30fc\u30c8\u3057\u3066\u3044\u306a\u3044\u3088\u3068\u3044\u3046\u8b66\u544a\u3067\u3059\uff0e
\n\u3053\u308c\u306b\u95a2\u3057\u3066\u306f\uff0c~\/denso_cobotta_ros\/denso_cobotta_moveit_config\/config\/kintematics.yaml \u306e\u4e2d\u306e
\nkinematics_solver_attempts \u306e\u9805\u76ee\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\uff08#\uff09\u3057\u305f\u3089\u6d88\u3048\u307e\u3059\uff08\u305d\u308c\u3067\u826f\u3044\u306e\u304b\u3069\u3046\u304b\u308f\u304b\u308a\u307e\u305b\u3093\u304c\u2026\uff09\uff0e<\/p>\n
\r\n[ERROR] [1595471689.277660915]: Got a callback on a goalHandle that we're not tracking.                 This is an internal SimpleActionClient\/ActionClient bug.                 This could also be a GoalID collision\r\n<\/pre>\n
\u52d5\u304b\u3057\u3066\u3044\u308b\u65b9\uff08python\u5074\uff09\u3067\u306e\u30a8\u30e9\u30fc\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3059\uff0e
\nGoalID \u304c\u885d\u7a81\u3057\u3066\u3044\u308b\u3063\u307d\u3044\uff1f
\n\u2192\u540c\u3058\u76ee\u7684\u5730\u306e\u52d5\u304d\u3092\u9023\u7d9a\u3057\u3066\u5b9f\u884c\u3059\u308b\u3068\u767a\u751f\u3059\u308b\u6a21\u69d8\uff0e\u78ba\u304b\u306b\u305d\u306e\u5834\u5408\u306f\uff0cGoldID \u304c\u885d\u7a81\u3057\u307e\u3059\u306d\uff0e<\/p>\n
\r\n[ERROR] [1595471707.688894662]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ]\r\n[ERROR] [1595471707.689011661]: Known controllers and their joints:\r\ncontroller 'cobotta' controls joints:\r\n  joint_gripper\r\n\r\n[ERROR] [1595471707.689169623]: Apparently trajectory initialization failed\r\n<\/pre>\n
\u3053\u3061\u3089\u304ccobotta \u5074\u3067\u306e\u30a8\u30e9\u30fc\uff0e
\njoints \u304c\u3046\u307e\u304f\u8a2d\u5b9a\u3067\u304d\u3066\u3044\u306a\u3044\u306e\u304b\u306a\u3041\uff0e<\/p>\n
\u3082\u3046\u5c11\u3057\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u3055\u304b\u306e\u307c\u3063\u3066\u898b\u308b\u3068\uff0c<\/p>\n
\r\n[ERROR] [1595475865.197615587]: Failed to find 3D sensor plugin parameters for octomap generation\r\n---\r\n[ERROR] [1595475865.998017734]: \/cobotta\/denso_cobotta_control: Could not load controller 'arm_controller' because controller type 'position_controllers\/JointTrajectoryController' does not exist.\r\n[ERROR] [1595475865.998157364]: \/cobotta\/denso_cobotta_control: Use 'rosservice call controller_manager\/list_controller_types' to get the available types\r\n---\r\n[ERROR] [1595475867.000453]: Failed to load arm_controller\r\n---\r\n[ WARN] [1595475877.338517100]: Waiting for cobotta\/arm_controller\/follow_joint_trajectory to come up\r\n[ERROR] [1595475883.338950268]: Action client not connected: cobotta\/arm_controller\/follow_joint_trajectory\r\n<\/pre>\n
\u3093\u30fc\uff0earm_controller \u306eJointTrajectoryController \u304c\u304a\u304b\u3057\u3044\u306e\u304b\u306a\uff0e<\/p>\n
JointTrajectoryController \u3068\u3044\u3046\u3068\uff0cjoint_trajectory_controller<\/a>\u306e\u3053\u3068\u304b\u306a\u3041\uff0e
\n\u30d1\u30c3\u30b1\u30fc\u30b8\u3067\u3044\u3046\u3068\uff0cros-melodic-joint-trajectory-controller \u3063\u307d\u3044\uff0e
\n\u3093\uff1f\u307e\u3060\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u3044\u306a\u3044\u3063\u307d\u3044\u2026\uff0e<\/p>\n
\u5165\u308c\u3066\u307f\u3088\u3046\uff0e<\/p>\n
\r\nsudo apt-get install ros-melodic-joint-trajectory-controller\r\n<\/pre>\n
\u304a\uff0c\u3044\u3051\u305f\u305e\uff0epacking_pose.py \u3067Cobotta \u304c\u52d5\u304d\u307e\u3057\u305f\uff0e<\/p>\n
\u3068\u3044\u3046\u308f\u3051\u3067\uff0cCobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b<\/a>\u306e\u65b9\u3092\u4fee\u6b63\u3057\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Cobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b\u306b\u3066\uff0cgripper\u306f\u52d5\u304f …<\/p>\n
  gripper\u306f\u52d5\u304f\u3051\u3069joint\u90e8\u304c\u52d5\u304b\u306a\u3044\uff08Cobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b\u306e\u30c8\u30e9\u30d6\u30eb\uff09<\/span> \u7d9a\u304d\u3092\u8aad\u3080 »<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[20,3,2,6],"tags":[],"class_list":["post-2322","post","type-post","status-publish","format-standard","hentry","category-cobotta","category-logistics-league","category-robocup","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2322","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2322"}],"version-history":[{"count":7,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2322\/revisions"}],"predecessor-version":[{"id":2332,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2322\/revisions\/2332"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2322"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2322"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2322"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}