Ted Miller

Issues resuming from `Energy Saving Function`

2

Issue encountered on DX200. [robot_sleep_error_clean.txt](https://github.com/Yaskawa-Global/motoros2/files/12043429/robot_sleep_error_clean.txt) This has the debug log, along with output from a few command line service calls. The calling code calls start_traj_mode and waits for the result,...

Reuse of error (sub)codes

1

There are multiple instances of the `SUBCODE_FAIL_MP_NICDATA` error code in different source files. Although they both essentially have the same meaning, it is impossible to know exactly which line of...

Upper limit to publishing frequency

2

The frequency for publishing topics is configurable in the `motoros2_config.yaml` configuration file. Initial testing has revealed that the MotoROS2 is limited to about 100 Hz. `0.1.0` added features to attempt...

Interoperability issues with different DDS implementations

2

In Galactic, the default RMW has [changed from Fast DDS to Cyclone DDS](https://docs.ros.org/en/galactic/Concepts/About-Different-Middleware-Vendors.html?highlight=default). During testing, communication failed. Once I [stopped the daemon](https://docs.ros.org/en/galactic/How-To-Guides/Working-with-multiple-RMW-implementations.html) and ran export `RMW_IMPLEMENTATION=rmw_fastrtps_cpp` everything worked fine. After...

Make sure trajectories can "time-out" while they are being executed

1

we might want to make sure trajectories can "time-out" while they are being executed. I haven't checked the current implementation, but checking for time-tolerance should preferably be independent from trajectory...

Now that MotoROS2 is more akin to a real ROS 2 node, we might consider adding a GUI to it. A UI could be used to both show status of...

`Ros_StaticAllocationBuffer_FJTgoal` is currently configured to be `SIZEOF_BUFFER_FTJGOAL` (2000000) bytes. This number is not based on anything other than it needed to be "big enough" when the code was first written....

If the action client doesn't accept the goal-request result message, then the server (MotoROS2) will be unable to process any future goal-requests. I think this is an issue in micro-ros;...

The readme has a section on [configuration](https://github.com/Yaskawa-Global/motoros2?tab=readme-ov-file#configuration), which tells you to input the address of the uros agent. But the agent isn't explained [until later](https://github.com/Yaskawa-Global/motoros2?tab=readme-ov-file#the-micro-ros-agent) in the readme. For someone...

Need to clearly indicate failure when configuring speed FB

4

We had a user get into [this scenario](https://github.com/Yaskawa-Global/motoros2/blob/main/doc/troubleshooting.md#alarm-49974). But he reports that he never saw the alarm, `8001 Speed FB enabled, reboot now. [10]` https://github.com/Yaskawa-Global/motoros2/discussions/294#discussioncomment-10595168 This results in MR2 appearing...