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Get joint position or torques freezes for 10 sec randomly #199
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Hello @MiguelGarciaUVa , There is no issue using RefreshFeedback in High level, as long as the BaseCyclic client is connected via a UDP transport to port 10001. We are not aware of any known issue which would cause this. Can you launch your code with the Monitoring page of the WebApp opened in the Detailed tab and verify if the data is still updating there? The WebApp also uses RefreshFeedback() to fetch this data, so this would confirm whether your issue lies in the robot or in your code. If the WebApp also freezes, I suggest reinstalling the firmware via the Upgrade page (find the latest firmware on our Website). Cheers |
Hi @martinleroux,
So maybe it takes 10 seconds to try to communicate, then try again.
To init the cyclic:
Sampling time is 0.002 and execution time is infinite (t_end = 0) |
Are you obtaining the same behaviour by running the defaut torque control example? |
No, because they don't use RefreshFeedback() in the loop. |
We will try to replicate the issue and get back to you. |
I modified the Torque example above to replace all torque commands with just RefreshFeedback. I ran the example for 30 minutes and could not replicate your issue. I did notice however that the delay would vary a lot depending on what else I would be doing with my computer at the same time. I am currently running the example using Python on a Windows 10 PC with a bunch of browser tabs open, but the worse delay I have seen is ~35ms. Here is the full code if you want to try it:
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Thank you very much for your response and your time. I ran it and the issue persists. This is the output console: I am running it on Spyder on a Windows 11 PC. Did you change any parameters in utilities? Maybe there is a parameter causing the program to stop 10 seconds.
And this is the output: In utilities I have this:
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I have not changed anything in the Utilities file. You can try to change your session_inactivity_timeout in Utilities to less than 10 seconds. I expect it will only reduce your systematic time to recall to whatever value you select without solving the root of the issue, but it may help you make progress. |
Hello @MiguelGarciaUVa , |
Hello,
I have a code where I am getting the position of the joints in a loop.
I am receiving data from the robot through the Refresh Feedback function, but suddenly it stops receiving that data for exactly 10 seconds and then continues as usual. This happens randomly (I think). We would like to know the cause of this or if you are aware that this is a bug and how to fix it. The same applies to the torques.
The servoing mode is set to single level servoing, instead of low level, because I want to move the robot in high level mode at the same time. I don't know if the problem can come from that.
If someone can help me, I would appreciate it.
Thanks in advance.
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