ERROR :MESSAGE CALLBACK FOR MESSAGE type :2017 , not executed

[IRISBFW]

I am getting Message callback error
"ERROR :MESSAGE CALLBACK FOR MESSAGE type :2017 , not executed"
Environment Details:
OS : Ubuntu 20.04
OS type : 64 bit
ROS : neotic
ROBOT : GP25
Controller:YRC 1000

Intially with 6 axis Everything was working fine
Now enabled 2 external axis, After enabling axis S1(1&2) Keep on getting the issue & robot keep on oscillating in the rviz

tried to run multi group file too facing same issue

Kindly help in configuration of external axis and resolve the issue

[gavanderhoorn]

tried to run multi group file too facing same issue

please provide more information about which file(s) you (tried) to start, how you started them, how you've configured things (ie: which .yaml parameter files and/or param tags in .launch files), etc.

The error you quote is indeed caused by having multiple motion groups configured on your YRC, but not starting the multi-group version of the driver.

[IRISBFW]

Launch file which i created

<launch>

<!-- Lanuch file added by BFW
      version0    false
      robotip     192.168.100.5
      use_bswap   false   since yrc1000
-->

	<!-- version0: Set to true for older/single arm joint trajectory action -->
	<arg name="version0"  default = "false" doc="If true, driver assumes an older version of client without multi-group support" />

	<!-- robot_ip: IP-address of the robot's socket-messaging server -->
	<arg name="robot_ip"  default = "192.168.100.5" doc="IP of controller" />

	<!-- Load the byte-swapping versions of Fanuc nodes if required -->
	<arg name="use_bswap" default="false" doc="If true, robot driver will byte-swap all incoming and outgoing data" />


	<!-- copy the specified parameters to the Parameter Server, for 
	     use by nodes below -->
	<param name="robot_ip_address" type="str" value="$(arg robot_ip)" />

	<!-- robot_state: publishes joint positions and robot-state data
	     (from socket connection to robot)
	-->
	
	<rosparam command="load" file="$(find motoman_bfw)/config/joint_names_gp25.yaml" />
	
	<include file="$(find motoman_driver)/launch/robot_state.launch">
		<arg name="robot_ip"   value="$(arg robot_ip)" />
		<arg name="use_bswap"  value="false" />
	</include>

	<!-- motion_streaming_interface: sends robot motion commands by 
	     STREAMING path to robot (using socket connection to robot) 
	-->
	<include file="$(find motoman_driver)/launch/motion_streaming_interface.launch">
		<arg name="robot_ip"   value="$(arg robot_ip)" />
		<arg name="use_bswap"  value="false" />
	</include>

	<!-- io_relay: sends and receives IO reads/writes to the controller
	     (using socket connection to robot)
	-->
	<include file="$(find motoman_driver)/launch/io_relay.launch">
		<arg name="robot_ip"   value="$(arg robot_ip)" />
		<arg name="use_bswap"  value="false" />
	</include>

	<!-- joint_trajectory_action: provides actionlib interface for 
	     high-level robot control
	-->
	<node name="joint_trajectory_action"
		pkg="motoman_driver" type="motoman_driver_joint_trajectory_action" />
</launch>

Parameter file which i am using
I have not changed

controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t']

I have R1 & S1 configured in robot

Kindly help me in configuring for this

[gavanderhoorn]

And which command(s) do you use to start everything?

[IRISBFW]

I have update the joint file

controller_joint_names: ['joint_1_s', 'joint_2_l', 'joint_3_u', 'joint_4_r', 'joint_5_b', 'joint_6_t','s1_1','s1_2']

I have updated motion_interface.yaml

topic_list:
    - name: robot
      ns: 'yrc1000'
      group: 0
      joints: ['joint_1_s','joint_2_l','joint_3_u','joint_4_r','joint_5_b','joint_6_t']
    - name: eaxis
      ns: 'yrc1000'
      group: 1
      joints: ['s1_1','s1_2']

now i ran

robot_multigroup_interface_streaming_yrc1000.launch

issue get resolved and i am able to get joint_state in /yrc1000/robot/joint_state for robot, and able to move robot using actionlib

i also get joint_state of external 2 axis using /yrc1000/robot/joint_state and able to move it

when i try to read /joint_state msg instead of getting as group msg i am getting as 2 individual msg

now i got stuck up how to move both robot and external motor together

My goal is to move both robot and external msg together

kindly help

[gavanderhoorn]

I can try to respond with more details later, but the go-to solution for these kinds of things is to use the joint_state_publisher node to coalesce multiple disjoint JointState messages into a single one and publish that.

For your configuration, the following should work:

<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" ns="yrc1000">
  <rosparam param="source_list">[/yrc1000/robot/joint_state, /yrc1000/eaxis/joint_state]</rosparam>
</node>

Note: I've placed the JSP node in the yrc1000 namespace (with the ns="yrc1000" attribute). That's just to avoid clashing with the global /joint_state topic published by the driver.

You could also choose to run the driverin a namespace, and let the RSP run without a namespace. You'd then have to update the source_list parameter to pick up the topics from the namespace.

now i got stuck up how to move both robot and external motor together

I don't have enough information to help you here, as you don't describe what stuck means exactly. What have you tried? What didn't work? What did you expect to happen? Please provide more information and we can see whether we can help you.

---

One tip:

now i ran

robot_multigroup_interface_streaming_yrc1000.launch

please try to avoid running .launch files from motoman_driver directly.

Create a new ROS package, create a new .launch file in that new ROS package and include the robot_multigroup_interface_streaming_yrc1000.launch from that new .launch file.

Similar to how it's done in motoman_sda10f_support/launch/robot_interface_streaming_sda10f.launch.

[gavanderhoorn]

@IRISBFW: have you been able to get your setup to work?

[IRISBFW]

Its working fine and i am able to move all the 8 axis together
Thanks for the support