Motoman IO control service not advertised?

Question

**Motoman FS100: Integrating IO Control Services Help**

Hello! I'm trying to control the IO pins of an Motoman FS100 controller. Single-arm, single-robot group.

**Issue:** ROS services "readSingleIO" and "writeSingleIO" not appearing once launched and connected to robot controller.
Note: Other services like "robot_enable" are still available.

I don't know how to further troubleshoot this issue. Does anyone have any suggestions?

I am following user gvdhoorn's forked branch, "io_support_rebased" to edit my own fork of the motoman driver.

*Versions*
ROS Melodic
MotoROS v1.9.1

*Code*
Integrated IO over two commits:
1. [adding ROS services](https://github.com/acbuynak/motoman/commit/8a2cabe67191cca1e976a092bd6e28bbab6d3471)
2. [adding convenience class](https://github.com/acbuynak/motoman/commit/3ac0c1d9ac1ac93dffdf22c51b914751b270b497)

*Relevant Code from CMakeLists*
from motoman_driver package/CMakeLists

add_executable(motoman_motion_streaming_interface_bswap
  src/joint_streaming_node.cpp
  src/joint_trajectory_streamer.cpp
  src/motion_ctrl.cpp
  src/motion_ctrl.cpp
  src/io_ctrl.cpp)

from motoman_msgs/CMakeLists

add_service_files(
  DIRECTORY
    srv
  FILES
    CmdJointTrajectoryEx.srv
    ReadSingleIO.srv
    WriteSingleIO.srv
)

---

*Related Content:*
[ROS Answer: Control I/O of Generic Industrial robot](https://answers.ros.org/question/272675/can-i-control-ports-input-output-of-an-industrial-robot/)
[ROS Answer: Motoman Digital IO Control](https://answers.ros.org/question/309980/how-can-i-control-digital-ios-for-motoman/)
[Github: Commit for Multi-Robot I/O Read-Write](https://github.com/gavanderhoorn/motoman/commit/f764a07308e35175fe68a851c050611c45b7a5ca)
[Google Forum: I/O Control of Motoman DX100](https://groups.google.com/forum/#!msg/swri-ros-pkg-dev/GCC7gP6HJiE/Nhgm31oVBwAJ)

---

Originally posted by acbuynak on ROS Answers with karma: 3 on 2020-04-28

Post score: 0

Answer 1

you have to move these lines,

    // hacking this in here at this place
  io_ctrl_.init(connection);
  this->srv_read_single_io = this->node_.advertiseService("read_single_io",
      &MotomanJointTrajectoryStreamer::readSingleIoCB, this);
  this->srv_write_single_io = this->node_.advertiseService("write_single_io",
      &MotomanJointTrajectoryStreamer::writeSingleIoCB, this);

inside this method,

bool MotomanJointTrajectoryStreamer::init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
    const std::map<std::string, double> &velocity_limits)
{
...
}

---

Originally posted by nd with karma: 80 on 2020-04-29

This answer was ACCEPTED on the original site

Post score: 0

---

Original comments

Comment by acbuynak on 2020-04-29:
This worked! Thanks! To clarify for future reviewers, I mistakenly placed the io_ctrl initialization (first code quoted in above answer) into a similar looking bool group that performed a different function. After moving the placement of the code, everything worked as desired.