[Message callback for message type: 2017, not executed] after roslaunch

[axelssons]

Hi!

I am running
roslaunch motoman_gp8_support robot_interface_streaming_gp8.launch controller:=yrc1000 robot_ip:=192.168.255.2,
and I keep getting an error continously, namely
[ERROR] [1687786983.153289099]: Message callback for message type: 2017, not executed.

I found this discussion post #528, which seem to describe the same issue, but it does not really help me.
From this page, I've found that message of type 2017 tries to "get feedback position of multiple control-groups with a single message". What is the typical issue when this error occurs?

I am trying to run a Motoman GP8 and an external servo motor with YRC1000. I've installed the MotoROS server according to this tutorial.

Here is an example of a "Motoman Joint Feedback Extended" packet if it's helpful:

Motoman Joint Feedback Extended message from Wireshark

ROS-Industrial SimpleMessage, Motoman Joint Feedback Extended (0x7e1), 548 bytes, little-endian
    Prefix
        Packet Length: 544
    Header
        Message Type: Motoman Joint Feedback Extended (0x000007e1)
        Communications Type: Topic (1)
        Reply Code: Unused / Invalid (0)
    Body
        Number of Groups: 2
        Group 0
            Robot ID: 0
            Valid Fields: 0x06 (Position, Velocity)
            Time: 0
            Positions
                J0:    0.012885439
                J1:   -0.504372895
                J2:   -0.377397627
                J3:    0.030127382
                J4:   -0.128998205
                J5:   -0.029885806
                J6:    0.000000000
                J7:    0.000000000
                J8:    0.000000000
                J9:    0.000000000
            Velocities
                J0:    0.000000000
                J1:    0.000000000
                J2:    0.000000000
                J3:    0.000000000
                J4:    0.000000000
                J5:    0.000000000
                J6: 131118.000000000
                J7: 131118.000000000
                J8:    0.000000000
                J9:    0.000000000
            Accelerations
                J0:    0.000000000
                J1:    0.000000000
                J2:    0.000000000
                J3:    0.000000000
                J4:    0.000000000
                J5:    0.000000000
                J6:    0.000000000
                J7:    0.000000000
                J8:    0.000000000
                J9:    0.000000000
        Group 1
            Robot ID: 1
            Valid Fields: 0x06 (Position, Velocity)
            Time: 0
            Positions
                J0:    0.007397761
                J1:    0.000000000
                J2:    0.000000000
                J3:    0.000000000
                J4:    0.000000000
                J5:    0.000000000
                J6:    0.000000000
                J7:    0.000000000
                J8:    0.000000000
                J9:    0.000000000
            Velocities
                J0:    0.000000000
                J1: 131118.000000000
                J2: 131118.000000000
                J3: 131118.000000000
                J4: 131118.000000000
                J5: 131118.000000000
                J6: 131118.000000000
                J7: 131118.000000000
                J8:    0.000000000
                J9:    0.000000000
            Accelerations
                J0:    0.000000000
                J1:    0.000000000
                J2:    0.000000000
                J3:    0.000000000
                J4:    0.000000000
                J5:    0.000000000
                J6:    0.000000000
                J7:    0.000000000
                J8:    0.000000000
                J9:    0.000000000

I would be thankful for help.

[gavanderhoorn]

I am trying to run a Motoman GP8 and an external servo motor with YRC1000.

with this setup you'd have to configure for a multi-group system.

The error message tells us MotoROS (running on the YRC) is sending you multi-group messages, but motoman_driver (on your ROS PC) did not expect them as you started the single-group version (robot_interface_streaming_gp8.launch is a simple .launch file for single-group systems only).

The only on-line example we have of a multi-group system would be the SDA10 (dual arm robot).

You'd need to create a version of config/sda10f_motion_interface.yaml for your setup (only two groups I assume based on your description), and create a version of robot_interface_streaming_gp8.launch which does something similar to launch/robot_interface_streaming_sda10f.launch.

The Creating a dual arm system tutorial on wiki.ros.org explains this a bit (it should perhaps be renamed to multi-group system, but then people with dual-arm robots would not know where to look for information) -- note though the ROS Wiki is currently down (at least for me).

---

Edit: something like this for sda10f_motion_interface.yaml could work for your system (I've not tested it, so there could be mistakes):

topic_list:
  - name: r1_controller
    ns: yrc1000
    group: 0
    joints: ['robot_joint_s', 'robot_joint_l', 'robot_joint_e', 'robot_joint_u', 'robot_joint_r', 'robot_joint_b', 'robot_joint_t']
  - name: s1_controller
    ns: yrc1000
    group: 1
    joints: ['ext_joint_1']

Note: I'm assuming your robot is setup as R1, S1. It doesn't really matter for motoman_driver, but I prefer names on the ROS side to match the MotoROS side. Adjust where necessary.

[gavanderhoorn]

@axelssons: were you able to get your setup working?