Waiting for ever for cal_sh_wrj2
Bug #1046792 reported by
Guillaume W.
This bug affects 1 person
Affects | Status | Importance | Assigned to | Milestone | |
---|---|---|---|---|---|
Shadow Robot's ROS interface, EtherCAT version |
Fix Released
|
High
|
Unassigned |
Bug Description
starting the EDC with sr_edc.launch (modified to use pr2-grant)
"Waiting for: cal_sh_wrj2" displays each second endlessly.
Restarting the sr_edc.launch solves the problem.
Occured three times since we have newest shadow_
There should be a maximum tries or a restart of something automatically, or a message asking to restart the driver.
Changed in sr-ros-interface-ethercat: | |
importance: | Undecided → High |
Changed in sr-ros-interface-ethercat: | |
status: | New → Fix Committed |
Changed in sr-ros-interface-ethercat: | |
status: | Fix Committed → Fix Released |
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The problem is due to poor implementation in pr2_bringup/ calibrate. py. There's a "for name in waiting_for" and sometimes it happens that "waiting_ for.remove( obj)" is invoked before the for loop has finished. Then it waits forever for the latest elements of the queue (normally cal_sh_wrj1, cal_sh_wrj2, but sometimes more, sometimes none). controllers/ srh_fake_ joint_callibrat ion_controller. cpp.
I've sorted that out by adding a 0.5 sec delay in the first message published in sr_mechanism_
I filed a ticket for WG to solve this more properly: /code.ros. org/trac/ wg-ros- pkg/ticket/ 5211
https:/