AX12 dual motor index out of range
I'm working through the ax12 smart arm tutorials on diamondback with ubuntu 10.4 as soon as i start a dual motor controller i receive this error
[ERROR] [WallTime: 1301047084.826573] bad callback: <bound method JointPositionControllerDualAX12.process_motor_states of <joint_position_controller_dual_motor.JointPositionControllerDualAX12 instance at 0x8f0e06c>>
Traceback (most recent call last):
File "/opt/ros/diamondback/stacks/ros_comm/clients/rospy/src/rospy/topics.py", line 563, in _invoke_callback
cb(msg)
File "/home/peter/ros/ua-ros-pkg/arrg/ua_controllers/ax12_controller_core/src/ax12_controller_core/joint_position_controller_dual_motor.py", line 146, in process_motor_states
state = states[self.master_id]
IndexError: list index out of range
This error just cycles continuously but the joint will move with commands
Comments
Can you post your controller configuration and output of rostopic echo /motor_states/ttyUSB0?
arebgun
(
2011-03-25 10:19:30 -0600
)editmotor_statemotor_states:
-
timestamp: 1301225172.3
id: 2
goal: 172
position: 171
error: -1
speed: 0
load: 0.0
voltage: 12.7
temperature: 41
moving: False
-
timestamp: 1301225172.31
id: 3
goal: 737
position: 737
error: 0
speed: 0
load: 0.0
voltage: 13.0
temperature: 41
moving: False
-
timestamp: 1301225172.31
id: 4
goal: 512
position: 512
error: 0
speed: 0
load: 0.0
voltage: 12.7
temperature: 42
moving: False
-
timestamp: 1301225172.31
id: 5
goal: 315
position: 315
error: 0
speed: 0
load: 0.0
voltage: 12.7
temperature: 41
moving: False
-
timestamp: 1301225172.32
id: 6
goal: 862
position: 863
error: 1
speed: 4
load: 0.0078125
voltage: 12.6
temperature: 41
moving: False
-
timestamp: 1301225172.32
id: 7
goal: 1023
position: 1023
error: 0
speed: 0
load: 0.0
voltage: 13.0
temperature: 40
moving: False
-
timestamp: 1301225172.33
id: 8
goal: 549
position: 550
error: 1 ...(more)
Peter Heim
(
2011-03-26 23:40:34 -0600
)edit
head_pan_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: head_pan_joint
joint_speed: 1.17
motor:
id: 7
init: 512
min: 0
max: 1024
head_tilt_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: head_tilt_joint
joint_speed: 1.17
motor:
id: 8
init: 512
min: 800
max: 300
pan_base_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: base_pan_joint
joint_speed: 1.17
motor:
id: 3
init: 512
min: 273
max: 751
shoulder_tilt_controller:
controller:
package: ax12_controller_core
module: joint_position_controller_dual_motor
type: JointPositionControllerDualAX12
joint_name: shoulder_tilt_joint
joint_speed: 1.17
motor_master:
id: 6
init: 512
min: 717
max: 126
motor_slave:
id: 2
elbow_tilt_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: elbow_tilt_joint
joint_speed: 1.17
motor:
id: 5
init: 512
min: 881
max: 126
wrist_rotate_controller:
controller:
package: ax12_controller_core
module: joint_position_controller
type: JointPositionControllerAX12
joint_name: wrist_rotate_joint
joint_speed: 1.17
motor:
id: 4
init: 512
min: 1023
max: 0
Peter Heim
(
2011-03-26 23:43:17 -0600
)edit
Can you put this on pastebin or somewhere that doesn't mangle the formatting?
mjcarroll
(
2011-03-28 03:17:02 -0600
)edit
Or add it to your question with block quotes.
tfoote
(
2011-04-03 14:10:54 -0600
)editadd a comment
