Node starts but cart doesn't move [Foxy Branch + Ign Citadel]

[Vincenzo-Saffioti]

Hi everyone, I tried to build the foxy branch, i'm using Ignition Citadel, and did not receive any kind of error. However when starting the demo with the launch command

ros2 launch ign_ros2_control_demos cart_example_position.launch.py

The cart is displayed on the ignition screen and to confirm that everything seems to be working I ran the following commands:

ros2 control list_hardware_interfaces

command interfaces
	slider_to_cart/position [claimed].
state interfaces
	 slider_to_cart/effort
	 slider_to_cart/position
	 slider_to_cart/velocity

ros2 control list_controllers

joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active    
joint_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active    

Trying to execute the position control, however, the following errors appear and the cart does not perform any movement:

ros2 run ign_ros2_control_demos example_position

node created
Created action server
Goal accepted
[ERROR] [1686303415.769124122] [trajectory_test_node]: send goal call ok :)
[ERROR] [1686303415.769323340] [trajectory_test_node]: Goal was accepted by server
[INFO] [1686303415.769373139] [trajectory_test_node]: Waiting for result
feedback->desired.positions :0	
feedback->desired.velocities :-1

and indefinitely the terminal shows

feedback->desired.positions :0	
feedback->desired.velocities :-1	
feedback->desired.positions :0	
feedback->desired.velocities :-1	
feedback->desired.positions :0	
feedback->desired.velocities :-1	
feedback->desired.positions :0	
feedback->desired.velocities :-1	

until the code stops, which displays this error:

^C[INFO] [1686303422.765100019] [rclcpp]: signal_handler(signal_value=2)
[ERROR] [1686303422.766838302] [trajectory_test_node]: get result call failed :(

Any suggestions for making the position control work? Off Topic question: how can I manually send commands to the controller to test that controller works properly?

[bmagyar]

Foxy was just announced end of life.

I'd strongly suggest moving to some distro where there's more support.

On Fri, 9 Jun 2023, 12:00 Vincenzo-Saffioti, @.***> wrote:

Hi everyone, I tried to build the foxy branch, i'm using Ignition Citadel, and did not receive any kind of error. However when starting the demo with the launch command

ros2 launch ign_ros2_control_demos cart_example_position.launch.py

The cart is displayed on the ignition screen and to confirm that everything seems to be working I ran the following commands:

ros2 control list_hardware_interfaces

command interfaces slider_to_cart/position [claimed]. state interfaces slider_to_cart/effort slider_to_cart/position slider_to_cart/velocity

ros2 control list_controllers

joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active joint_trajectory_controller[joint_trajectory_controller/JointTrajectoryController] active

Trying to execute the position control, however, the following errors appear and the cart does not perform any movement:

ros2 run ign_ros2_control_demos example_position

node created Created action server Goal accepted [ERROR] [1686303415.769124122] [trajectory_test_node]: send goal call ok :) [ERROR] [1686303415.769323340] [trajectory_test_node]: Goal was accepted by server [INFO] [1686303415.769373139] [trajectory_test_node]: Waiting for result feedback->desired.positions :0 feedback->desired.velocities :-1

and indefinitely the terminal shows

feedback->desired.positions :0 feedback->desired.velocities :-1 feedback->desired.positions :0 feedback->desired.velocities :-1 feedback->desired.positions :0 feedback->desired.velocities :-1 feedback->desired.positions :0 feedback->desired.velocities :-1

until the code stops, which displays this error:

^C[INFO] [1686303422.765100019] [rclcpp]: signal_handler(signal_value=2) [ERROR] [1686303422.766838302] [trajectory_test_node]: get result call failed :(

Any suggestions for making the position control work? Off Topic question: how can I manually send commands to the controller to test that controller works properly?

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[destogl]

This was, and it should be working. But as @bmagyar mentioned we will not make community effort to test / debug this sind Foxy is end-of-life.