Failed to change to slave mode. (83501024) for cobotta

[RoboticsYY]

Environment

Ubuntu 18.04 + ROS Melodic

Description

Hi, I'm ready to launch roslaunch denso_robot_control denso_robot_control.launch, but with the urdf files from denso_cobotta_ros. I also add a cobotta.launch.xml as the same way of VS060:

<launch>
	<param name="robot_name" value="CVR038A1-NV6-NNN-NNN"/>
	<param name="robot_joints" value="6"/>
	<param name="joint_1" value="1"/>
	<param name="joint_2" value="1"/>
	<param name="joint_3" value="1"/>
	<param name="joint_4" value="1"/>
	<param name="joint_5" value="1"/>
	<param name="joint_6" value="1"/>
	<param name="arm_group" value="0"/>
</launch>

After fixing the internet token executable problem, I can see the motor can be powered on, but I got the error[ERROR] [ros.denso_robot_control]: Failed to change to slave mode. (83501024):

The entire outputs are:

SUMMARY
========

PARAMETERS
 * /cobotta/arm_controller/joints: ['joint_1', 'join...
 * /cobotta/arm_controller/type: position_controll...
 * /cobotta/arm_group: 1
 * /cobotta/config_file: /home/yy/ws_denso...
 * /cobotta/conn_type: tcp
 * /cobotta/controller_name: 
 * /cobotta/controller_type: 8
 * /cobotta/invoke_timeout: 180000
 * /cobotta/ip_address: 192.168.0.10
 * /cobotta/joint_1: 1
 * /cobotta/joint_2: 1
 * /cobotta/joint_3: 1
 * /cobotta/joint_4: 1
 * /cobotta/joint_5: 1
 * /cobotta/joint_6: 1
 * /cobotta/joint_state_controller/publish_rate: 125
 * /cobotta/joint_state_controller/type: joint_state_contr...
 * /cobotta/port_number: 5007
 * /cobotta/recv_format: 292
 * /cobotta/retry_count: 5
 * /cobotta/robot_joints: 6
 * /cobotta/robot_name: CVR038A1-NV6-NNN-NNN
 * /cobotta/send_format: 288
 * /cobotta/timeout: 3000
 * /cobotta/wait_time: 0
 * /cobotta/watchdog_timer: 400
 * /robot_description: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /cobotta/
    controller_spawner (controller_manager/spawner)
    denso_robot_control (denso_robot_control/denso_robot_control)
  /
    robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [23949]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 946aa6e2-c98b-11e9-8860-d4bed94f78ea
process[rosout-1]: started with pid [23960]
started core service [/rosout]
process[cobotta/denso_robot_control-2]: started with pid [23968]
process[cobotta/controller_spawner-3]: started with pid [23969]
process[robot_state_publisher-4]: started with pid [23970]
[INFO] [rosout]: Controller Spawner: Waiting for service controller_manager/load_controller
[ERROR] [ros.denso_robot_control]: Failed to change to slave mode. (83501024)
[cobotta/denso_robot_control-2] process has finished cleanly
log file: /home/yy/.ros/log/946aa6e2-c98b-11e9-8860-d4bed94f78ea/cobotta-denso_robot_control-2*.log
[WARN] [rosout]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[cobotta/controller_spawner-3] process has finished cleanly
log file: /home/yy/.ros/log/946aa6e2-c98b-11e9-8860-d4bed94f78ea/cobotta-controller_spawner-3*.log

The error log of remote TP shows that this may happen if two programs take the control of robot at the same time. How can I fix this error? Thanks.

[RoboticsYY]

After rebooting cobotta, I found this happens because I run into this issue at the first time when I tried to launch the control program. Then if I launch the control program again, seems the previous failure run did not exit successfully and gave up the control of the robot. But cobotta is still thinking the previous program is taking control.

[luuquan]

Have you been able to deal with this problem? I have got the same issues on VP6242.

Environment:
Ubuntu 18.04 + ROS Melodic

[RoboticsYY]

@luuquan I recommend to use OSS mode, which is much more stable.

[DensoWaveRobot]

@luuquan
Sorry.
This package supports Indigo and kinetic.
We will support Melodic in Next year.

[tswie]

@luuquan
Sorry.
This package supports Indigo and kinetic.
We will support Melodic in Next year.

Thank you for addressing the issue!

Do you have a rough ETA? Our project relies on the DENSO arm and we'd like to be able to use Melodic. Also, I'm assuming this would be for the overall denso_robot_ros package, correct?

[haraisao]

Hello,

When you will reset the cobotta using moveit, you need cancel a current planning motion and publish 'ChangeMode' message towice.
To cancel a current planning motion, the 'Start State' set to and 'Goal State' set to by using the Planning tab in MotionPlanning in rviz.
Then you should press 'Plan' button and ' Execute' button.
After that, publishing 'ChangeMode' message with value as '0x202' will reset the current error, the the led will turn to white.
Then publishing 'ChangeMode' message with value as '0x202' will the cobotta turn to bCap slave mode.