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  1. Environment set up for running Machinekit and LinuxCNC
  2.  
  3. Switching to UNIT 3.7 (work copy)
  4.  
  5. bas@mat1-j1900:~$ rostopic
  6. bw echo find hz info list pub type
  7. bas@mat1-j1900:~$ rostopic echo /joint_path_command
  8. header:
  9. seq: 2
  10. stamp:
  11. secs: 0
  12. nsecs: 0
  13. frame_id: /base_link
  14. joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
  15. points:
  16. -
  17. positions: [-1.570796321927324, 0.5959047286921635, -0.5943401534094638, -1.1237818684045453, 0.027337663782817007, -1.6520987354496888]
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  21. time_from_start:
  22. secs: 0
  23. nsecs: 200000000
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  1232. ---
  1233.  
  1234.  
  1235.  
  1236. bovenstaand was catresian path, onderstaand 1 move
  1237. bovenstaande geeft deze error:
  1238.  
  1239. [ INFO] [1511257755.173950582]: Received new trajectory execution service request...
  1240. [ERROR] [WallTime: 1511257755.188562] bad callback: <function callback at 0x7f035acfcc80>
  1241. Traceback (most recent call last):
  1242. File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/topics.py", line 720, in _invoke_callback
  1243. cb(msg)
  1244. File "/home/bas/industrial_training/training/work/3.7/src/listener2/src/scripts/listener2.py", line 120, in callback
  1245. vel = float(pose.velocities[j])
  1246. IndexError: tuple index out of range
  1247.  
  1248. header:
  1249. seq: 3
  1250. stamp:
  1251. secs: 0
  1252. nsecs: 0
  1253. frame_id: /base_link
  1254. joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
  1255. points:
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  1271. nsecs: 101444512
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  1351. nsecs: 219689160
  1352. -
  1353. positions: [-0.04279907956745754, 0.32158323588208565, -0.2773956517307482, -0.5187786710533843, 0.05272620257995232, 0.04523541928957897]
  1354. velocities: [0.18724615398663041, -0.03361632014808364, 0.038839493502548894, 0.07413921878462333, 0.0031112008014896127, 0.2079972945594001]
  1355. accelerations: [-0.17985541068949698, 0.03228945928862645, -0.0373064701525017, -0.07121288933741708, -0.0029883994195648834, -0.19978748849472353]
  1356. effort: []
  1357. time_from_start:
  1358. secs: 4
  1359. nsecs: 711537823
  1360. -
  1361. positions: [0.08453402396253115, 0.2987231114812458, -0.25098360992418856, -0.4683617379407875, 0.05484191414638027, 0.1866799321845179]
  1362. velocities: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  1363. accelerations: [-0.20991625637918074, 0.037686285824773756, -0.0435418346499161, -0.08311533736098208, -0.0034878773805908985, -0.23317976087254932]
  1364. effort: []
  1365. time_from_start:
  1366. secs: 5
  1367. nsecs: 812982336
  1368. ---
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